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Upgrade gazebo versions
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@Levi-Armstrong
Levi-Armstrong committed May 4, 2023
1 parent 4e5eb12 commit 0c1943d
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Showing 5 changed files with 138 additions and 138 deletions.
66 changes: 33 additions & 33 deletions tesseract_visualization/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -17,11 +17,11 @@ find_package(tesseract_environment REQUIRED)
find_package(tesseract_scene_graph REQUIRED)
find_package(tesseract_state_solver REQUIRED)

# Optional to build ignition visualization
find_package(ignition-common3 COMPONENTS profiler events av QUIET)
find_package(ignition-transport8 QUIET)
find_package(ignition-msgs5 QUIET)
find_package(ignition-math6-eigen3 QUIET)
# Optional to build gazebo visualization
find_package(gz-common5 COMPONENTS profiler events av QUIET)
find_package(gz-transport11 QUIET)
find_package(gz-msgs8 QUIET)
find_package(gz-math7-eigen3 QUIET)

if(NOT TARGET console_bridge::console_bridge)
add_library(console_bridge::console_bridge INTERFACE IMPORTED)
Expand All @@ -36,13 +36,13 @@ else()
endif()
endif()

set(IGNITION_FOUND FALSE)
if(ignition-common3_FOUND
AND ignition-transport8_FOUND
AND ignition-msgs5_FOUND
AND ignition-math6-eigen3_FOUND)
set(IGNITION_FOUND TRUE)
message(STATUS "Ignition Visualization Library will be built!")
set(GAZEBO_FOUND FALSE)
if(gz-common5_FOUND
AND gz-transport11_FOUND
AND gz-msgs8_FOUND
AND gz-math7-eigen3_FOUND)
set(GAZEBO_FOUND TRUE)
message(STATUS "Gazebo Visualization Library will be built!")
endif()

# Load variable for clang tidy args, compiler options and cxx version
Expand Down Expand Up @@ -96,14 +96,17 @@ target_include_directories(${PROJECT_NAME} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CUR
"$<INSTALL_INTERFACE:include>")

list(APPEND PACKAGE_LIBRARIES ${PROJECT_NAME})
if(IGNITION_FOUND)
option(TESSERACT_BUILD_GZ_VISUALIZATION "Build Gazebo visualization plugin" ON)
if(GAZEBO_FOUND AND TESSERACT_BUILD_GZ_VISUALIZATION)
add_library(${PROJECT_NAME}_ignition src/ignition/entity_manager.cpp src/ignition/conversions.cpp)
target_link_libraries(
${PROJECT_NAME}_ignition
PUBLIC tesseract::tesseract_scene_graph
tesseract::tesseract_common
${IGNITION-COMMON_LIBRARIES}
${IGNITION-MSGS_LIBRARIES}
gz-common5::gz-common5-profiler
gz-common5::gz-common5-events
gz-common5::gz-common5-av
gz-msg8::gz-msg8
console_bridge::console_bridge)
target_compile_options(${PROJECT_NAME}_ignition PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
target_compile_options(${PROJECT_NAME}_ignition PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
Expand All @@ -118,8 +121,6 @@ if(IGNITION_FOUND)
ENABLE ${TESSERACT_ENABLE_CODE_COVERAGE})
target_include_directories(${PROJECT_NAME}_ignition PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>")
target_include_directories(${PROJECT_NAME}_ignition SYSTEM PUBLIC ${IGNITION-COMMON_INCLUDE_DIRS}
${IGNITION-MSGS_INCLUDE_DIRS})

add_library(${PROJECT_NAME}_ignition_visualization src/ignition/tesseract_ignition_visualization.cpp)
target_link_libraries(
Expand All @@ -128,9 +129,11 @@ if(IGNITION_FOUND)
${PROJECT_NAME}_ignition
tesseract::tesseract_scene_graph
tesseract::tesseract_common
${IGNITION-COMMON_LIBRARIES}
${IGNITION-TRANSPORT_LIBRARIES}
${IGNITION-MSGS_LIBRARIES}
gz-common5::gz-common5-profiler
gz-common5::gz-common5-events
gz-common5::gz-common5-av
gz-transport11::gz-transport11
gz-msg8::gz-msg8
console_bridge::console_bridge)
target_compile_options(${PROJECT_NAME}_ignition_visualization PRIVATE ${TESSERACT_COMPILE_OPTIONS_PRIVATE})
target_compile_options(${PROJECT_NAME}_ignition_visualization PUBLIC ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
Expand All @@ -146,30 +149,27 @@ if(IGNITION_FOUND)
target_include_directories(
${PROJECT_NAME}_ignition_visualization PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>")
target_include_directories(
${PROJECT_NAME}_ignition_visualization SYSTEM
PUBLIC ${IGNITION-COMMON_INCLUDE_DIRS} ${IGNITION-TRANSPORT_INCLUDE_DIRS} ${IGNITION-MSGS_INCLUDE_DIRS})

list(
APPEND
PACKAGE_LIBRARIES
${PROJECT_NAME}_ignition
${PROJECT_NAME}_ignition_visualization)
else()
list(APPEND IGNITION_MISSING "")
if(NOT ignition-common3_FOUND)
list(APPEND IGNITION_MISSING "ignition-common3")
list(APPEND GAZEBO_MISSING "")
if(NOT gz-common5_FOUND)
list(APPEND GAZEBO_MISSING "gz-common5")
endif()
if(NOT ignition-transport8_FOUND)
list(APPEND IGNITION_MISSING "ignition-transport8")
if(NOT ignition-transport11_FOUND)
list(APPEND GAZEBO_MISSING "gz-transport11")
endif()
if(NOT ignition-msgs5_FOUND)
list(APPEND IGNITION_MISSING "ignition-msgs5")
if(NOT gz-msgs8_FOUND)
list(APPEND GAZEBO_MISSING "gz-msgs8")
endif()
if(NOT ignition-math6-eigen3_FOUND)
list(APPEND IGNITION_MISSING "ignition-math6-eigen3")
if(NOT gz-math7-eigen3_FOUND)
list(APPEND GAZEBO_MISSING "gz-math7-eigen3")
endif()
message(STATUS "Ignition Visualization Library will not be built! Missing: ${IGNITION_MISSING}")
message(STATUS "Gazebo Visualization Library will not be built! Missing: ${GAZEBO_MISSING}")
endif()

configure_package(NAMESPACE tesseract TARGETS ${PACKAGE_LIBRARIES})
Expand Down
4 changes: 2 additions & 2 deletions tesseract_visualization/include/tesseract_visualization/ignition/conversions.h
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Original file line number Diff line number Diff line change
Expand Up @@ -28,7 +28,7 @@

#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <ignition/msgs/scene.pb.h>
#include <gz/msgs/scene.pb.h>
TESSERACT_COMMON_IGNORE_WARNINGS_POP

#include <tesseract_visualization/ignition/entity_manager.h>
Expand All @@ -39,7 +39,7 @@ namespace tesseract_visualization
{
bool isMeshWithColor(const std::string& file_path);

bool toMsg(ignition::msgs::Scene& scene_msg,
bool toMsg(gz::msgs::Scene& scene_msg,
EntityManager& entity_manager,
const tesseract_scene_graph::SceneGraph& scene_graph,
const tesseract_common::TransformMap& link_transforms);
Expand Down
14 changes: 7 additions & 7 deletions ...visualization/include/tesseract_visualization/ignition/tesseract_ignition_visualization.h
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Original file line number Diff line number Diff line change
Expand Up @@ -28,9 +28,9 @@

#include <tesseract_common/macros.h>
TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
#include <ignition/msgs/scene.pb.h>
#include <ignition/msgs/boolean.pb.h>
#include <ignition/transport/Node.hh>
#include <gz/msgs/scene.pb.h>
#include <gz/msgs/boolean.pb.h>
#include <gz/transport/Node.hh>
TESSERACT_COMMON_IGNORE_WARNINGS_POP

#include <tesseract_visualization/visualization.h>
Expand Down Expand Up @@ -69,10 +69,10 @@ class TesseractIgnitionVisualization : public tesseract_visualization::Visualiza
void waitForInput(std::string message = "Hit enter key to continue!") override;

private:
ignition::transport::Node node_; /**< Ignition communication node. */
ignition::transport::Node::Publisher scene_pub_; /**< Scene publisher */
ignition::transport::Node::Publisher pose_pub_; /**< Pose publisher */
ignition::transport::Node::Publisher deletion_pub_; /**< Deletion publisher */
gz::transport::Node node_; /**< Ignition communication node. */
gz::transport::Node::Publisher scene_pub_; /**< Scene publisher */
gz::transport::Node::Publisher pose_pub_; /**< Pose publisher */
gz::transport::Node::Publisher deletion_pub_; /**< Deletion publisher */
EntityManager entity_manager_;

/**
Expand Down
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⚠️ Performance Alert ⚠️

Possible performance regression was detected for benchmark 'C++ Benchmark'.
Benchmark result of this commit is worse than the previous benchmark result exceeding threshold 2.

Benchmark suite Current: 0c1943d Previous: 4e5eb12 Ratio
BM_CLONE_FCLDiscreteBVHManager_ACTIVE_OBJ_0/real_time 0.43683566341126906 us/iter 0.2103022689713131 us/iter 2.08

This comment was automatically generated by workflow using github-action-benchmark.

CC: @Levi-Armstrong

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