From 724e5f12fbe1745dc681edfce3a55c2c29c9f0a6 Mon Sep 17 00:00:00 2001
From: Roelof Oomen <rj.oomen@isohorti.com>
Date: Thu, 11 Jul 2024 17:53:15 +0200
Subject: [PATCH] Fixes for building on Ubuntu Noble (#1016)

---
 tesseract_common/test/plugin_loader_unit.cpp | 5 +++--
 tesseract_environment/CMakeLists.txt         | 2 +-
 tesseract_kinematics/CMakeLists.txt          | 2 +-
 tesseract_state_solver/CMakeLists.txt        | 2 +-
 tesseract_urdf/CMakeLists.txt                | 4 ++--
 tesseract_visualization/CMakeLists.txt       | 2 +-
 6 files changed, 9 insertions(+), 8 deletions(-)

diff --git a/tesseract_common/test/plugin_loader_unit.cpp b/tesseract_common/test/plugin_loader_unit.cpp
index fb880648bf6..e6facbe084c 100644
--- a/tesseract_common/test/plugin_loader_unit.cpp
+++ b/tesseract_common/test/plugin_loader_unit.cpp
@@ -82,8 +82,8 @@ TEST(TesseractClassLoaderUnit, LoadTestPlugin)  // NOLINT
 // For some reason on Ubuntu 18.04 it does not search the current directory when only the library name is provided
 #if BOOST_VERSION > 106800 && !__APPLE__
   {
-    EXPECT_TRUE(ClassLoader::isClassAvailable(symbol_name, lib_name));
-    auto plugin = ClassLoader::createSharedInstance<TestPluginBase>(symbol_name, lib_name);
+    EXPECT_TRUE(ClassLoader::isClassAvailable(symbol_name, lib_name, "."));
+    auto plugin = ClassLoader::createSharedInstance<TestPluginBase>(symbol_name, lib_name, ".");
     EXPECT_TRUE(plugin != nullptr);
     EXPECT_NEAR(plugin->multiply(5, 5), 25, 1e-8);
   }
@@ -150,6 +150,7 @@ TEST(TesseractPluginLoaderUnit, LoadTestPlugin)  // NOLINT
 #if BOOST_VERSION > 106800 && !__APPLE__
   {
     PluginLoader plugin_loader;
+    plugin_loader.search_paths.insert(".");
     plugin_loader.search_libraries.insert("tesseract_common_test_plugin_multiply");
 
     EXPECT_TRUE(plugin_loader.isPluginAvailable("plugin"));
diff --git a/tesseract_environment/CMakeLists.txt b/tesseract_environment/CMakeLists.txt
index dc01a4b4a99..1207d43d66a 100644
--- a/tesseract_environment/CMakeLists.txt
+++ b/tesseract_environment/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.15.0)
 # Extract package name and version
 find_package(ros_industrial_cmake_boilerplate REQUIRED)
 extract_package_metadata(pkg)
-project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES CXX)
+project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES C CXX)
 
 if(WIN32)
   set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
diff --git a/tesseract_kinematics/CMakeLists.txt b/tesseract_kinematics/CMakeLists.txt
index 6c2f3b747c8..a72b68e30b5 100644
--- a/tesseract_kinematics/CMakeLists.txt
+++ b/tesseract_kinematics/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.15.0)
 # Extract package name and version
 find_package(ros_industrial_cmake_boilerplate REQUIRED)
 extract_package_metadata(pkg)
-project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES CXX)
+project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES C CXX)
 
 if(WIN32)
   set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
diff --git a/tesseract_state_solver/CMakeLists.txt b/tesseract_state_solver/CMakeLists.txt
index ede7f1f325c..6336cdb6ae0 100644
--- a/tesseract_state_solver/CMakeLists.txt
+++ b/tesseract_state_solver/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.15.0)
 # Extract package name and version
 find_package(ros_industrial_cmake_boilerplate REQUIRED)
 extract_package_metadata(pkg)
-project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES CXX)
+project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES C CXX)
 
 if(WIN32)
   set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
diff --git a/tesseract_urdf/CMakeLists.txt b/tesseract_urdf/CMakeLists.txt
index 815baf0d5e3..1a6f1c358f5 100644
--- a/tesseract_urdf/CMakeLists.txt
+++ b/tesseract_urdf/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.15.0)
 # Extract package name and version
 find_package(ros_industrial_cmake_boilerplate REQUIRED)
 extract_package_metadata(pkg)
-project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES CXX)
+project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES C CXX)
 
 if(WIN32)
   set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
@@ -12,7 +12,7 @@ endif()
 find_package(Boost REQUIRED)
 find_package(Eigen3 REQUIRED)
 find_package(console_bridge REQUIRED)
-find_package(PCL REQUIRED COMPONENTS common io)
+find_package(PCL REQUIRED COMPONENTS io)
 find_package(tesseract_geometry REQUIRED)
 find_package(tesseract_common REQUIRED)
 find_package(tesseract_scene_graph REQUIRED)
diff --git a/tesseract_visualization/CMakeLists.txt b/tesseract_visualization/CMakeLists.txt
index db2db8c1224..64c72281187 100644
--- a/tesseract_visualization/CMakeLists.txt
+++ b/tesseract_visualization/CMakeLists.txt
@@ -3,7 +3,7 @@ cmake_minimum_required(VERSION 3.15.0)
 # Extract package name and version
 find_package(ros_industrial_cmake_boilerplate REQUIRED)
 extract_package_metadata(pkg)
-project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES CXX)
+project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES C CXX)
 
 if(WIN32)
   set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)