tesseract-robotics · Levi-Armstrong · Sep 6, 2023 · Sep 5, 2023
diff --git a/.cmake-format b/.cmake-format
@@ -44,8 +44,22 @@ with section("parse"):
     'configure_package': {
       'pargs': {'nargs': 0},
       'kwargs': {
+        'COMPONENT': '?',
         'NAMESPACE': '?',
         'TARGETS': '*',
+        'SUPPORTED_COMPONENTS': '*',
+        'DEPENDENCIES': '*',
+        'CFG_EXTRAS': '*',
+      }
+    },
+    'configure_component': {
+      'pargs': {'nargs': 0},
+      'kwargs': {
+        'COMPONENT': '?',
+        'NAMESPACE': '?',
+        'TARGETS': '*',
+        'DEPENDENCIES': '*',
+        'CFG_EXTRAS': '*',
       }
     },
     'add_gtest_discover_tests': {
@@ -98,16 +112,66 @@ with section("parse"):
         'EXCLUDE': '*',
       }
     },
-    'tesseract_cpack': {
+    'install_targets': {
       'pargs': {'nargs': 0},
       'kwargs': {
-        'VERSION': 1,
-        'MAINTAINER': 1,
-        'DESCRIPTION': 1,
-        'LICENSE_FILE': 1,
-        'README_FILE': 1,
+        'TARGETS': '*',
+        'COMPONENT': '?',
+      }
+    },
+    'cpack': {
+      'pargs': {'nargs': 0},
+      'kwargs': {
+        'VERSION': '?',
+        'MAINTAINER_NAME': '?',
+        'MAINTAINER_EMAIL': '?',
+        'VENDOR': '?',
+        'DESCRIPTION': '?',
+        'LICENSE_FILE': '?',
+        'README_FILE': '?',
+        'PACKAGE_PREFIX': '?',
+        'LINUX_BUILD_DEPENDS': '*',
+        'WINDOWS_BUILD_DEPENDS': '*',
+        'LINUX_DEPENDS': '*',
+        'WINDOWS_DEPENDS': '*',
+      }
+    },
+    'cpack_component_package': {
+      'pargs': {'nargs': 0},
+      'kwargs': {
+        'VERSION': '?',
+        'MAINTAINER_NAME': '?',
+        'MAINTAINER_EMAIL': '?',
+        'VENDOR': '?',
+        'DESCRIPTION': '?',
+        'LICENSE_FILE': '?',
+        'README_FILE': '?',
+        'PACKAGE_PREFIX': '?',
+        'COMPONENT_DEPENDS': '*',
+      }
+    },
+    'cpack_component': {
+      'pargs': {'nargs': 0},
+      'kwargs': {
+        'COMPONENT': '?',
+        'VERSION': '?',
+        'DESCRIPTION': '?',
+        'PACKAGE_PREFIX': '?',
+        'LINUX_BUILD_DEPENDS': '*',
+        'WINDOWS_BUILD_DEPENDS': '*',
         'LINUX_DEPENDS': '*',
         'WINDOWS_DEPENDS': '*',
+        'COMPONENT_DEPENDS': '*',
+      }
+    },
+    'cpack_debian_source_package': {
+      'pargs': {'nargs': 0},
+      'kwargs': {
+        'CHANGLELOG': '?',
+        'UPLOAD': '?',
+        'DPUT_HOST': '?',
+        'DEBIAN_INCREMENT': '?',
+        'DISTRIBUTIONS': '*',
       }
     },
   }

diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
@@ -23,7 +23,7 @@ jobs:
       REGISTRY: ghcr.io
       IMAGE_NAME: ${{ github.repository }}
       PUSH_DOCKER_IMAGE: ${{ github.ref == 'refs/heads/master' || github.event_name == 'release' }}
-      TESSERACT_VERSION: 0.18
+      TESSERACT_VERSION: 0.19
     steps:
       - name: Checkout repository
         uses: actions/checkout@v1

diff --git a/.github/workflows/windows_dependencies.repos b/.github/workflows/windows_dependencies.repos
@@ -1,7 +1,7 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.4.7
+    version: 0.5.3
 - git:
     local-name: tesseract
     uri: https://github.com/ros-industrial-consortium/tesseract.git
@@ -13,7 +13,7 @@
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git
-    version: 0.3.1
+    version: 0.4.2
 - git:
     local-name: opw_kinematics
     uri: https://github.com/Jmeyer1292/opw_kinematics.git

diff --git a/dependencies.repos b/dependencies.repos
@@ -1,15 +1,15 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.4.7
+    version: 0.5.3
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt.git
     version: 0.6.0
 - git:
     local-name: descartes_light
     uri: https://github.com/swri-robotics/descartes_light.git
-    version: 0.3.1
+    version: 0.4.2
 - git:
     local-name: ifopt
     uri: https://github.com/ethz-adrl/ifopt.git

diff --git a/tesseract_command_language/CMakeLists.txt b/tesseract_command_language/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5.0)
+cmake_minimum_required(VERSION 3.15.0)
 
 # Extract package name and version
 find_package(ros_industrial_cmake_boilerplate REQUIRED)
@@ -27,6 +27,9 @@ else()
   endif()
 endif()
 
+# Load variable for clang tidy args, compiler options and cxx version
+tesseract_variables()
+
 initialize_code_coverage()
 set(COVERAGE_EXCLUDE
     /usr/*
@@ -35,9 +38,6 @@ set(COVERAGE_EXCLUDE
     /*/gtest/*)
 add_code_coverage_all_targets(EXCLUDE ${COVERAGE_EXCLUDE})
 
-# Load variable for clang tidy args, compiler options and cxx version
-tesseract_variables()
-
 add_library(
   ${PROJECT_NAME}
   src/poly/cartesian_waypoint_poly.cpp
@@ -79,7 +79,16 @@ target_code_coverage(
 target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                   "$<INSTALL_INTERFACE:include>")
 
-configure_package(NAMESPACE tesseract TARGETS ${PROJECT_NAME})
+# Configure Package
+configure_package(
+  NAMESPACE tesseract
+  TARGETS ${PROJECT_NAME}
+  DEPENDENCIES
+    console_bridge
+    tesseract_common
+    Eigen3
+    "Boost COMPONENTS serialization"
+  CFG_EXTRAS cmake/tesseract_command_language-extras.cmake)
 
 # Mark header files for installation
 install(
@@ -96,9 +105,10 @@ if(TESSERACT_ENABLE_TESTING)
 endif()
 
 if(TESSERACT_PACKAGE)
-  tesseract_cpack(
+  cpack(
     VERSION ${pkg_extracted_version}
-    MAINTAINER <https://github.com/ros-industrial-consortium/tesseract>
+    MAINTAINER_NAME ${pkg_extracted_maintainer_name}
+    MAINTAINER_EMAIL ${pkg_extracted_maintainer_email}
     DESCRIPTION ${pkg_extracted_description}
     LICENSE_FILE ${CMAKE_CURRENT_LIST_DIR}/../LICENSE
     README_FILE ${CMAKE_CURRENT_LIST_DIR}/../README.md
@@ -112,4 +122,13 @@ if(TESSERACT_PACKAGE)
       "Eigen3"
       "boost-serialization"
       "${TESSERACT_PACKAGE_PREFIX}tesseract-common")
+
+  if(UNIX AND TESSERACT_PACKAGE_SOURCE)
+    cpack_debian_source_package(
+      CHANGLELOG ${CMAKE_CURRENT_LIST_DIR}/CHANGELOG.rst
+      UPLOAD ${TESSERACT_PACKAGE_SOURCE_UPLOAD}
+      DPUT_HOST ${TESSERACT_PACKAGE_SOURCE_DPUT_HOST}
+      DEBIAN_INCREMENT ${TESSERACT_PACKAGE_SOURCE_DEBIAN_INCREMENT}
+      DISTRIBUTIONS ${TESSERACT_PACKAGE_SOURCE_DISTRIBUTIONS})
+  endif()
 endif()
diff --git a/tesseract_command_language/cmake/tesseract_command_language-config.cmake.in b/tesseract_command_language/cmake/tesseract_command_language-config.cmake.in
diff --git a/tesseract_command_language/cmake/tesseract_command_language-extras.cmake b/tesseract_command_language/cmake/tesseract_command_language-extras.cmake
@@ -0,0 +1,12 @@
+if(NOT TARGET console_bridge::console_bridge)
+  add_library(console_bridge::console_bridge INTERFACE IMPORTED)
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_INCLUDE_DIRECTORIES
+                                                                  ${console_bridge_INCLUDE_DIRS})
+  set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_LINK_LIBRARIES ${console_bridge_LIBRARIES})
+else()
+  get_target_property(CHECK_INCLUDE_DIRECTORIES console_bridge::console_bridge INTERFACE_INCLUDE_DIRECTORIES)
+  if(NOT ${CHECK_INCLUDE_DIRECTORIES})
+    set_target_properties(console_bridge::console_bridge PROPERTIES INTERFACE_INCLUDE_DIRECTORIES
+                                                                    ${console_bridge_INCLUDE_DIRS})
+  endif()
+endif()
diff --git a/tesseract_examples/CMakeLists.txt b/tesseract_examples/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5.0)
+cmake_minimum_required(VERSION 3.15.0)
 
 # Extract package name and version
 find_package(ros_industrial_cmake_boilerplate REQUIRED)
@@ -7,13 +7,20 @@ project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES CXX)
 
 find_package(tesseract_environment REQUIRED)
 find_package(tesseract_command_language REQUIRED)
-find_package(tesseract_motion_planners REQUIRED)
 find_package(tesseract_task_composer REQUIRED)
-find_package(tesseract_collision REQUIRED)
 find_package(tesseract_common REQUIRED)
 find_package(tesseract_support REQUIRED)
 find_package(trajopt_sqp REQUIRED)
 find_package(trajopt_ifopt REQUIRED)
+find_package(
+  tesseract_motion_planners REQUIRED
+  COMPONENTS core simple
+  OPTIONAL_COMPONENTS
+    descartes
+    ompl
+    trajopt
+    trajopt_ifopt)
+find_package(tesseract_collision REQUIRED COMPONENTS core)
 find_package(
   PCL REQUIRED
   COMPONENTS core
@@ -141,17 +148,17 @@ configure_package(
           ${PROJECT_NAME}_puzzle_piece_auxillary_axes_example
           ${PROJECT_NAME}_puzzle_piece_example
           ${PROJECT_NAME}_scene_graph_example
-          DEPENDENCIES
-          tesseract_environment
-          tesseract_command_language
-          tesseract_motion_planners
-          tesseract_task_composer
-          tesseract_collision
-          tesseract_common
-          tesseract_support
-          trajopt_sqp
-          trajopt_ifopt
-          "PCL REQUIRED COMPONENTS core features filters io segmentation surface")
+  DEPENDENCIES
+    tesseract_environment
+    tesseract_command_language
+    tesseract_motion_planners
+    tesseract_task_composer
+    tesseract_collision
+    tesseract_common
+    tesseract_support
+    trajopt_sqp
+    trajopt_ifopt
+    "PCL REQUIRED COMPONENTS core features filters io segmentation surface")
 
 if(TESSERACT_ENABLE_TESTING)
   enable_testing()