Remove TesseractSupportResourceLocator

tesseract-robotics · Oct 12, 2024 · a807ca1 · a807ca1
1 parent 20386fe
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Showing 107 changed files with 391 additions and 290 deletions.
diff --git a/tesseract_command_language/CHANGELOG.rst b/tesseract_command_language/CHANGELOG.rst
@@ -262,8 +262,8 @@ Changelog for package tesseract_command_language
 
 0.9.5 (2022-03-31)
 ------------------
-* Update to leverage TesseractSupportResourceLocator (`#181 <https://github.com/tesseract-robotics/tesseract_planning/issues/181>`_)
-  * Update to leverage TesseractSupportResourceLocator
+* Update to leverage GeneralResourceLocator (`#181 <https://github.com/tesseract-robotics/tesseract_planning/issues/181>`_)
+  * Update to leverage GeneralResourceLocator
   * Update CI docker tag to 0.9
 * Fix windows CI build (`#178 <https://github.com/tesseract-robotics/tesseract_planning/issues/178>`_)
 * Contributors: Levi Armstrong

diff --git a/tesseract_command_language/include/tesseract_command_language/poly/instruction_poly.h b/tesseract_command_language/include/tesseract_command_language/poly/instruction_poly.h
@@ -205,7 +205,6 @@ struct InstructionPoly : InstructionPolyBase
 }  // namespace tesseract_planning
 
 BOOST_SERIALIZATION_ASSUME_ABSTRACT(tesseract_planning::detail_instruction::InstructionInterface)
-BOOST_CLASS_EXPORT_KEY(tesseract_planning::detail_instruction::InstructionInterface)
 BOOST_CLASS_TRACKING(tesseract_planning::detail_instruction::InstructionInterface, boost::serialization::track_never)
 
 BOOST_CLASS_EXPORT_KEY(tesseract_planning::InstructionPolyBase)

diff --git a/tesseract_command_language/include/tesseract_command_language/poly/waypoint_poly.h b/tesseract_command_language/include/tesseract_command_language/poly/waypoint_poly.h
@@ -165,7 +165,6 @@ struct WaypointPoly : WaypointPolyBase
 }  // namespace tesseract_planning
 
 BOOST_SERIALIZATION_ASSUME_ABSTRACT(tesseract_planning::detail_waypoint::WaypointInterface)
-BOOST_CLASS_EXPORT_KEY(tesseract_planning::detail_waypoint::WaypointInterface)
 BOOST_CLASS_TRACKING(tesseract_planning::detail_waypoint::WaypointInterface, boost::serialization::track_never)
 
 BOOST_CLASS_EXPORT_KEY(tesseract_planning::WaypointPolyBase)

diff --git a/tesseract_command_language/src/cartesian_waypoint.cpp b/tesseract_command_language/src/cartesian_waypoint.cpp
@@ -83,5 +83,5 @@ void tesseract_planning::CartesianWaypoint::serialize(Archive& ar, const unsigne
 
 #include <tesseract_common/serialization.h>
 
-TESSERACT_CARTESIAN_WAYPOINT_EXPORT_IMPLEMENT(tesseract_planning::CartesianWaypoint)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::CartesianWaypoint)
+TESSERACT_CARTESIAN_WAYPOINT_EXPORT_IMPLEMENT(tesseract_planning::CartesianWaypoint)
diff --git a/tesseract_command_language/src/composite_instruction.cpp b/tesseract_command_language/src/composite_instruction.cpp
@@ -536,6 +536,6 @@ void CompositeInstruction::serialize(Archive& ar, const unsigned int /*version*/
 
 #include <tesseract_common/serialization.h>
 
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::CompositeInstruction)
 TESSERACT_INSTRUCTION_EXPORT_IMPLEMENT(tesseract_planning::CompositeInstruction)
 TESSERACT_ANY_EXPORT_IMPLEMENT(TesseractPlanningCompositeInstruction)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::CompositeInstruction)
diff --git a/tesseract_command_language/src/joint_waypoint.cpp b/tesseract_command_language/src/joint_waypoint.cpp
@@ -114,5 +114,5 @@ void JointWaypoint::serialize(Archive& ar, const unsigned int /*version*/)
 }
 }  // namespace tesseract_planning
 
-TESSERACT_JOINT_WAYPOINT_EXPORT_IMPLEMENT(tesseract_planning::JointWaypoint)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::JointWaypoint)
+TESSERACT_JOINT_WAYPOINT_EXPORT_IMPLEMENT(tesseract_planning::JointWaypoint)
diff --git a/tesseract_command_language/src/move_instruction.cpp b/tesseract_command_language/src/move_instruction.cpp
@@ -263,5 +263,5 @@ void MoveInstruction::serialize(Archive& ar, const unsigned int /*version*/)
 
 #include <tesseract_common/serialization.h>
 
-TESSERACT_MOVE_INSTRUCTION_EXPORT_IMPLEMENT(tesseract_planning::MoveInstruction)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::MoveInstruction)
+TESSERACT_MOVE_INSTRUCTION_EXPORT_IMPLEMENT(tesseract_planning::MoveInstruction)
diff --git a/tesseract_command_language/src/poly/cartesian_waypoint_poly.cpp b/tesseract_command_language/src/poly/cartesian_waypoint_poly.cpp
@@ -130,12 +130,12 @@ void tesseract_planning::CartesianWaypointPoly::serialize(Archive& ar, const uns
   ar& boost::serialization::make_nvp("base", boost::serialization::base_object<CartesianWaypointPolyBase>(*this));
 }
 
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::detail_cartesian_waypoint::CartesianWaypointInterface)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::CartesianWaypointPolyBase)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::CartesianWaypointPoly)
+
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::detail_cartesian_waypoint::CartesianWaypointInterface)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::CartesianWaypointPolyBase)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::CartesianWaypointPoly)
 
 TESSERACT_WAYPOINT_EXPORT_IMPLEMENT(tesseract_planning::CartesianWaypointPoly)
-
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::detail_cartesian_waypoint::CartesianWaypointInterface)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::CartesianWaypointPolyBase)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::CartesianWaypointPoly)
diff --git a/tesseract_command_language/src/poly/instruction_poly.cpp b/tesseract_command_language/src/poly/instruction_poly.cpp
@@ -61,10 +61,9 @@ void tesseract_planning::InstructionPoly::serialize(Archive& ar, const unsigned
   ar& boost::serialization::make_nvp("base", boost::serialization::base_object<InstructionPolyBase>(*this));
 }
 
-BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::detail_instruction::InstructionInterface)
-BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::InstructionPolyBase)
-BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::InstructionPoly)
-
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::detail_instruction::InstructionInterface)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::InstructionPolyBase)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::InstructionPoly)
+
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::InstructionPolyBase)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::InstructionPoly)
diff --git a/tesseract_command_language/src/poly/joint_waypoint_poly.cpp b/tesseract_command_language/src/poly/joint_waypoint_poly.cpp
@@ -122,12 +122,12 @@ void tesseract_planning::JointWaypointPoly::serialize(Archive& ar, const unsigne
   ar& boost::serialization::make_nvp("base", boost::serialization::base_object<JointWaypointPolyBase>(*this));
 }
 
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::detail_joint_waypoint::JointWaypointInterface)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::JointWaypointPolyBase)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::JointWaypointPoly)
+
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::detail_joint_waypoint::JointWaypointInterface)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::JointWaypointPolyBase)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::JointWaypointPoly)
 
 TESSERACT_WAYPOINT_EXPORT_IMPLEMENT(tesseract_planning::JointWaypointPoly)
-
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::detail_joint_waypoint::JointWaypointInterface)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::JointWaypointPolyBase)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::JointWaypointPoly)
diff --git a/tesseract_command_language/src/poly/move_instruction_poly.cpp b/tesseract_command_language/src/poly/move_instruction_poly.cpp
@@ -171,12 +171,12 @@ void tesseract_planning::MoveInstructionPoly::serialize(Archive& ar, const unsig
   ar& boost::serialization::make_nvp("base", boost::serialization::base_object<MoveInstructionPolyBase>(*this));
 }
 
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::detail_move_instruction::MoveInstructionInterface)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::MoveInstructionPolyBase)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::MoveInstructionPoly)
+
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::detail_move_instruction::MoveInstructionInterface)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::MoveInstructionPolyBase)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::MoveInstructionPoly)
 
 TESSERACT_INSTRUCTION_EXPORT_IMPLEMENT(tesseract_planning::MoveInstructionPoly)
-
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::detail_move_instruction::MoveInstructionInterface)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::MoveInstructionPolyBase)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::MoveInstructionPoly)
diff --git a/tesseract_command_language/src/poly/state_waypoint_poly.cpp b/tesseract_command_language/src/poly/state_waypoint_poly.cpp
@@ -101,12 +101,12 @@ void tesseract_planning::StateWaypointPoly::serialize(Archive& ar, const unsigne
   ar& boost::serialization::make_nvp("base", boost::serialization::base_object<StateWaypointPolyBase>(*this));
 }
 
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::detail_state_waypoint::StateWaypointInterface)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::StateWaypointPolyBase)
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::StateWaypointPoly)
+
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::detail_state_waypoint::StateWaypointInterface)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::StateWaypointPolyBase)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::StateWaypointPoly)
 
 TESSERACT_WAYPOINT_EXPORT_IMPLEMENT(tesseract_planning::StateWaypointPoly)
-
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::detail_state_waypoint::StateWaypointInterface)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::StateWaypointPolyBase)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::StateWaypointPoly)
diff --git a/tesseract_command_language/src/poly/waypoint_poly.cpp b/tesseract_command_language/src/poly/waypoint_poly.cpp
@@ -43,10 +43,9 @@ void tesseract_planning::WaypointPoly::serialize(Archive& ar, const unsigned int
   ar& boost::serialization::make_nvp("base", boost::serialization::base_object<WaypointPolyBase>(*this));
 }
 
-BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::detail_waypoint::WaypointInterface)
-BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::WaypointPolyBase)
-BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::WaypointPoly)
-
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::detail_waypoint::WaypointInterface)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::WaypointPolyBase)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::WaypointPoly)
+
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::WaypointPolyBase)
+BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::WaypointPoly)
diff --git a/tesseract_command_language/src/profile_dictionary.cpp b/tesseract_command_language/src/profile_dictionary.cpp
@@ -43,6 +43,6 @@ void ProfileDictionary::serialize(Archive& /*ar*/, const unsigned int /*version*
 }  // namespace tesseract_planning
 
 #include <tesseract_common/serialization.h>
+TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::ProfileDictionary)
 BOOST_CLASS_EXPORT_IMPLEMENT(tesseract_planning::ProfileDictionary)
 TESSERACT_ANY_EXPORT_IMPLEMENT(TesseractPlanningProfileDictionarySharedPtr)
-TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::ProfileDictionary)
diff --git a/tesseract_command_language/src/set_analog_instruction.cpp b/tesseract_command_language/src/set_analog_instruction.cpp
@@ -101,5 +101,5 @@ void SetAnalogInstruction::serialize(Archive& ar, const unsigned int /*version*/
 }  // namespace tesseract_planning
 
 #include <tesseract_common/serialization.h>
-TESSERACT_INSTRUCTION_EXPORT_IMPLEMENT(tesseract_planning::SetAnalogInstruction)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::SetAnalogInstruction)
+TESSERACT_INSTRUCTION_EXPORT_IMPLEMENT(tesseract_planning::SetAnalogInstruction)
diff --git a/tesseract_command_language/src/set_tool_instruction.cpp b/tesseract_command_language/src/set_tool_instruction.cpp
@@ -89,5 +89,5 @@ void SetToolInstruction::serialize(Archive& ar, const unsigned int /*version*/)
 
 }  // namespace tesseract_planning
 
-TESSERACT_INSTRUCTION_EXPORT_IMPLEMENT(tesseract_planning::SetToolInstruction)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::SetToolInstruction)
+TESSERACT_INSTRUCTION_EXPORT_IMPLEMENT(tesseract_planning::SetToolInstruction)
diff --git a/tesseract_command_language/src/state_waypoint.cpp b/tesseract_command_language/src/state_waypoint.cpp
@@ -133,5 +133,5 @@ void StateWaypoint::serialize(Archive& ar, const unsigned int /*version*/)
 
 }  // namespace tesseract_planning
 
-TESSERACT_STATE_WAYPOINT_EXPORT_IMPLEMENT(tesseract_planning::StateWaypoint)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::StateWaypoint)
+TESSERACT_STATE_WAYPOINT_EXPORT_IMPLEMENT(tesseract_planning::StateWaypoint)
diff --git a/tesseract_command_language/src/timer_instruction.cpp b/tesseract_command_language/src/timer_instruction.cpp
@@ -107,5 +107,5 @@ void TimerInstruction::serialize(Archive& ar, const unsigned int /*version*/)
 }
 }  // namespace tesseract_planning
 
-TESSERACT_INSTRUCTION_EXPORT_IMPLEMENT(tesseract_planning::TimerInstruction)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::TimerInstruction)
+TESSERACT_INSTRUCTION_EXPORT_IMPLEMENT(tesseract_planning::TimerInstruction)
diff --git a/tesseract_command_language/src/wait_instruction.cpp b/tesseract_command_language/src/wait_instruction.cpp
@@ -108,5 +108,5 @@ void WaitInstruction::serialize(Archive& ar, const unsigned int /*version*/)
 }  // namespace tesseract_planning
 
 #include <tesseract_common/serialization.h>
-TESSERACT_INSTRUCTION_EXPORT_IMPLEMENT(tesseract_planning::WaitInstruction)
 TESSERACT_SERIALIZE_ARCHIVES_INSTANTIATE(tesseract_planning::WaitInstruction)
+TESSERACT_INSTRUCTION_EXPORT_IMPLEMENT(tesseract_planning::WaitInstruction)
diff --git a/tesseract_examples/CMakeLists.txt b/tesseract_examples/CMakeLists.txt
@@ -9,7 +9,6 @@ find_package(tesseract_environment REQUIRED)
 find_package(tesseract_command_language REQUIRED)
 find_package(tesseract_task_composer REQUIRED)
 find_package(tesseract_common REQUIRED)
-find_package(tesseract_support REQUIRED)
 find_package(trajopt_sqp REQUIRED)
 find_package(trajopt_ifopt REQUIRED)
 find_package(
@@ -106,7 +105,7 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${PCL_INCLUDE_DIRS})
 
 macro(add_example example_name example_file)
   add_executable(${example_name} ${example_file})
-  target_link_libraries(${example_name} ${PROJECT_NAME} tesseract::tesseract_support)
+  target_link_libraries(${example_name} ${PROJECT_NAME})
   target_compile_options(${example_name} PRIVATE ${TESSERACT_COMPILE_OPTIONS})
   target_clang_tidy(${example_name} ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
   target_cxx_version(${example_name} PUBLIC VERSION ${TESSERACT_CXX_VERSION})
@@ -156,7 +155,6 @@ configure_package(
     tesseract_task_composer
     tesseract_collision
     tesseract_common
-    tesseract_support
     trajopt_sqp
     trajopt_ifopt
     "PCL REQUIRED COMPONENTS core features filters io segmentation surface")

diff --git a/tesseract_examples/src/basic_cartesian_example.cpp b/tesseract_examples/src/basic_cartesian_example.cpp
@@ -69,6 +69,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_task_composer/core/task_composer_executor.h>
 #include <tesseract_task_composer/core/task_composer_node.h>
 #include <tesseract_task_composer/core/task_composer_plugin_factory.h>
+#include <tesseract_task_composer/core/task_composer_log.h>
 
 #include <tesseract_geometry/impl/octree.h>
 #include <tesseract_geometry/impl/octree_utils.h>
@@ -263,6 +264,9 @@ bool BasicCartesianExample::run()
     profiles->addProfile<TrajOptPlanProfile>(TRAJOPT_DEFAULT_NAMESPACE, "freespace_profile", plan_profile);
   }
 
+  // Create log
+  tesseract_planning::TaskComposerLog log;
+
   // Create task
   const std::string task_name = (ifopt_) ? "TrajOptIfoptPipeline" : "TrajOptPipeline";
   TaskComposerNode::UPtr task = factory.createTaskComposerNode(task_name);
@@ -274,6 +278,8 @@ bool BasicCartesianExample::run()
   data->setData("environment", std::shared_ptr<const tesseract_environment::Environment>(env_));
   data->setData("profiles", profiles);
 
+  // Store initial data in log
+  log.initial_data = *data;
   if (plotter_ != nullptr && plotter_->isConnected())
     plotter_->waitForInput("Hit Enter to solve for trajectory.");
 
@@ -286,6 +292,10 @@ bool BasicCartesianExample::run()
   stopwatch.stop();
   CONSOLE_BRIDGE_logInform("Planning took %f seconds.", stopwatch.elapsedSeconds());
 
+  // Store context in log and save to temp
+  log.context = future->context;
+  tesseract_common::Serialization::toArchiveFileXML(log, tesseract_common::getTempPath() + "basic_cartesian_log");
+
   // Plot Process Trajectory
   if (plotter_ != nullptr && plotter_->isConnected())
   {

diff --git a/tesseract_examples/src/basic_cartesian_example_node.cpp b/tesseract_examples/src/basic_cartesian_example_node.cpp
@@ -27,15 +27,15 @@
 #include <tesseract_examples/basic_cartesian_example.h>
 #include <tesseract_common/filesystem.h>
 #include <tesseract_environment/environment.h>
-#include <tesseract_support/tesseract_support_resource_locator.h>
+#include <tesseract_common/resource_locator.h>
 
 using namespace tesseract_examples;
 using namespace tesseract_common;
 using namespace tesseract_environment;
 
 int main(int /*argc*/, char** /*argv*/)
 {
-  auto locator = std::make_shared<TesseractSupportResourceLocator>();
+  auto locator = std::make_shared<GeneralResourceLocator>();
   tesseract_common::fs::path urdf_path =
       locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.urdf")->getFilePath();
   tesseract_common::fs::path srdf_path =

diff --git a/tesseract_examples/src/car_seat_example_node.cpp b/tesseract_examples/src/car_seat_example_node.cpp
@@ -27,15 +27,15 @@
 #include <tesseract_examples/car_seat_example.h>
 #include <tesseract_common/filesystem.h>
 #include <tesseract_environment/environment.h>
-#include <tesseract_support/tesseract_support_resource_locator.h>
+#include <tesseract_common/resource_locator.h>
 
 using namespace tesseract_examples;
 using namespace tesseract_common;
 using namespace tesseract_environment;
 
 int main(int /*argc*/, char** /*argv*/)
 {
-  auto locator = std::make_shared<TesseractSupportResourceLocator>();
+  auto locator = std::make_shared<GeneralResourceLocator>();
   tesseract_common::fs::path urdf_path =
       locator->locateResource("package://tesseract_support/urdf/car_seat_demo.urdf")->getFilePath();
   tesseract_common::fs::path srdf_path =

diff --git a/tesseract_examples/src/freespace_hybrid_example_node.cpp b/tesseract_examples/src/freespace_hybrid_example_node.cpp
@@ -27,15 +27,15 @@
 #include <tesseract_examples/freespace_hybrid_example.h>
 #include <tesseract_common/filesystem.h>
 #include <tesseract_environment/environment.h>
-#include <tesseract_support/tesseract_support_resource_locator.h>
+#include <tesseract_common/resource_locator.h>
 
 using namespace tesseract_examples;
 using namespace tesseract_common;
 using namespace tesseract_environment;
 
 int main(int /*argc*/, char** /*argv*/)
 {
-  auto locator = std::make_shared<TesseractSupportResourceLocator>();
+  auto locator = std::make_shared<GeneralResourceLocator>();
   tesseract_common::fs::path urdf_path =
       locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.urdf")->getFilePath();
   tesseract_common::fs::path srdf_path =

diff --git a/tesseract_examples/src/freespace_ompl_example_node.cpp b/tesseract_examples/src/freespace_ompl_example_node.cpp
@@ -27,15 +27,15 @@
 #include <tesseract_examples/freespace_ompl_example.h>
 #include <tesseract_common/filesystem.h>
 #include <tesseract_environment/environment.h>
-#include <tesseract_support/tesseract_support_resource_locator.h>
+#include <tesseract_common/resource_locator.h>
 
 using namespace tesseract_examples;
 using namespace tesseract_common;
 using namespace tesseract_environment;
 
 int main(int /*argc*/, char** /*argv*/)
 {
-  auto locator = std::make_shared<TesseractSupportResourceLocator>();
+  auto locator = std::make_shared<GeneralResourceLocator>();
   tesseract_common::fs::path urdf_path =
       locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.urdf")->getFilePath();
   tesseract_common::fs::path srdf_path =

diff --git a/tesseract_examples/src/glass_upright_example.cpp b/tesseract_examples/src/glass_upright_example.cpp
@@ -57,6 +57,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_task_composer/core/task_composer_node.h>
 #include <tesseract_task_composer/core/task_composer_executor.h>
 #include <tesseract_task_composer/core/task_composer_future.h>
+#include <tesseract_task_composer/core/task_composer_log.h>
 #include <tesseract_task_composer/core/task_composer_plugin_factory.h>
 
 #include <tesseract_visualization/visualization.h>
@@ -258,12 +259,16 @@ bool GlassUprightExample::run()
   TaskComposerNode::UPtr task = factory.createTaskComposerNode(task_name);
   const std::string output_key = task->getOutputKeys().get("program");
 
+  // Create log
+  tesseract_planning::TaskComposerLog log;
+
   // Create Task Composer Data Storage
   auto data = std::make_unique<tesseract_planning::TaskComposerDataStorage>();
   data->setData("planning_input", program);
   data->setData("environment", std::shared_ptr<const tesseract_environment::Environment>(env_));
   data->setData("profiles", profiles);
 
+  log.initial_data = *data;
   if (plotter_ != nullptr && plotter_->isConnected())
     plotter_->waitForInput("Hit Enter to solve for trajectory.");
 
@@ -276,6 +281,10 @@ bool GlassUprightExample::run()
   stopwatch.stop();
   CONSOLE_BRIDGE_logInform("Planning took %f seconds.", stopwatch.elapsedSeconds());
 
+  // Store context in log and save to temp
+  log.context = future->context;
+  tesseract_common::Serialization::toArchiveFileXML(log, tesseract_common::getTempPath() + "glass_upright_example");
+
   // Plot Process Trajectory
   if (plotter_ != nullptr && plotter_->isConnected())
   {

diff --git a/tesseract_examples/src/glass_upright_example_node.cpp b/tesseract_examples/src/glass_upright_example_node.cpp
@@ -27,15 +27,15 @@
 #include <tesseract_examples/glass_upright_example.h>
 #include <tesseract_common/filesystem.h>
 #include <tesseract_environment/environment.h>
-#include <tesseract_support/tesseract_support_resource_locator.h>
+#include <tesseract_common/resource_locator.h>
 
 using namespace tesseract_examples;
 using namespace tesseract_common;
 using namespace tesseract_environment;
 
 int main(int /*argc*/, char** /*argv*/)
 {
-  auto locator = std::make_shared<TesseractSupportResourceLocator>();
+  auto locator = std::make_shared<GeneralResourceLocator>();
   tesseract_common::fs::path urdf_path =
       locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.urdf")->getFilePath();
   tesseract_common::fs::path srdf_path =