Update ompl_interface with latest version of OMPL #2994
Conversation
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Would be good to see if lines https://github.com/moveit/moveit2/pull/2994/files#diff-18741df7cbb95f9292a57457e88318346213653f65f3932a5a03a1eaf7b2655bR27-R30 are still needed |
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| type: git | |||
| url: https://github.com/moveit/moveit_resources.git | |||
| version: ros2 | |||
| ompl: | |||
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Should we wait till the new ompl version is released?
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I guess the ompl crew would be willing to release although they still have at least one unresolved regression lying around.
But I'm not sure it's so difficult to support both ompl cmake interfaces here for now. We do that in MoveIt.
| @@ -12,3 +12,7 @@ repositories: | |||
| type: git | |||
| url: https://github.com/moveit/moveit_resources.git | |||
| version: ros2 | |||
| ompl: | |||
There was a problem hiding this comment.
I guess the ompl crew would be willing to release although they still have at least one unresolved regression lying around.
But I'm not sure it's so difficult to support both ompl cmake interfaces here for now. We do that in MoveIt.
According to OMPL's build documentation |
It was my intent to preserve them for backwards compatability, but the reality on ompl |
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This PR should get us closer to fixing the accidental breakage of the old variables in find_package. https://github.com/ompl/ompl/pull/1182/files#diff-148715d6ea0c0ea0a346af3f6bd610d010d490eca35ac6a9b408748f7ca9e3f4R10 We need to then add this back into the export, along with the other variables. |
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This pull request is in conflict. Could you fix it @MarqRazz? |
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Thanks for keeping this moving @sjahr! |
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@MarqRazz I'd just merge it now, since there aren't any CI failures related to the PR. Any concerns? |
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Actually we need to release OMPL for this change to work right. I have not tested this against the latest release to ROS2. @mamoll I would be happy to help get the OMPL release to ROS updated. Is there anything I can help with? @JafarAbdi also said he was will to help maintain the release. |
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Ok, I'll wait for now 👍 Let me know when it's ready |
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@MarqRazz @mamoll @JafarAbdi Any updates? |
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Thanks for keeping this up to date @sjahr! I have reached out the the ompl-release repo and Mark Moll and we are working on adding additional maintainers. |
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Codecov ReportAll modified and coverable lines are covered by tests ✅
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## main #2994 +/- ##
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- Coverage 45.80% 45.45% -0.34%
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Files 483 482 -1
Lines 40631 40431 -200
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- Hits 18608 18375 -233
- Misses 22023 22056 +33 ☔ View full report in Codecov by Sentry. 🚨 Try these New Features:
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Description
I'm working on debugging some issues and require building MoveIt2 and OMPL from source. This PR updates the package
moveit_planners_omplto work with the latest changes made in OMPL and it's more modern approach to exporting/linking the library but will require building it from source until a new release is made (I am working on getting it released and will keep this PR updated with the status).I was also having issues with OMPL but that package was recently updated to properly work with Colcon. Here is a link to the issue.
Big thanks to @JafarAbdi and @mamoll for helping me debug some of these issues and getting this updated! 🥇
Checklist