Update to latest tesseract

tesseract-robotics · Oct 15, 2024 · 1f916ba · 1f916ba
1 parent 1314b45
commit 1f916ba
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Showing 4 changed files with 17 additions and 30 deletions.
diff --git a/tesseract_planning_server/src/tesseract_planning_server.cpp b/tesseract_planning_server/src/tesseract_planning_server.cpp
@@ -317,22 +317,8 @@ struct TesseractPlanningServer::Implementation
 
     // Generate DOT Graph if requested
     if (goal->request.dotgraph)
-    {
-      try
-      {
-        // Save dot graph
-        const tesseract_planning::TaskComposerNode& task = planning_server->getTask(plan_future->context->name);
-        std::stringstream dotgraph;
-        task.dump(dotgraph, nullptr, plan_future->context->task_infos.getInfoMap());
-        result.response.dotgraph = dotgraph.str();
-      }
-      catch (const std::exception& e)
-      {
-        std::ostringstream oss;
-        oss << "Failed to generated DOT Graph: '" << e.what() << "'!" << std::endl;
-        ROS_ERROR_STREAM(oss.str());
-      }
-    }
+      result.response.dotgraph = planning_server->getTask(plan_future->context->name)
+                                     .getDotgraph(plan_future->context->task_infos.getInfoMap());
 
     try
     {

diff --git a/tesseract_rosutils/test/CMakeLists.txt b/tesseract_rosutils/test/CMakeLists.txt
@@ -1,15 +1,14 @@
 find_gtest()
-find_package(tesseract_support REQUIRED)
 
 add_executable(${PROJECT_NAME}_unit tesseract_rosutils_unit.cpp)
-target_link_libraries(${PROJECT_NAME}_unit GTest::GTest GTest::Main Eigen3::Eigen tesseract::tesseract_support tesseract::tesseract_scene_graph tesseract::tesseract_geometry tesseract::tesseract_collision_core tesseract::tesseract_visualization tesseract::tesseract_common tesseract::tesseract_motion_planners_core ${PROJECT_NAME})
+target_link_libraries(${PROJECT_NAME}_unit GTest::GTest GTest::Main Eigen3::Eigen tesseract::tesseract_scene_graph tesseract::tesseract_geometry tesseract::tesseract_collision_core tesseract::tesseract_visualization tesseract::tesseract_common tesseract::tesseract_motion_planners_core ${PROJECT_NAME})
 target_compile_options(${PROJECT_NAME}_unit PRIVATE ${TESSERACT_COMPILE_OPTIONS})
 target_clang_tidy(${PROJECT_NAME}_unit ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
 target_cxx_version(${PROJECT_NAME}_unit PUBLIC VERSION 17)
 add_gtest_discover_tests(${PROJECT_NAME}_unit)
 
 add_executable(${PROJECT_NAME}_geometry_msg_conversions tesseract_rosutils_geometry_msg_conversions.cpp)
-target_link_libraries(${PROJECT_NAME}_geometry_msg_conversions GTest::GTest GTest::Main Eigen3::Eigen tesseract::tesseract_support tesseract::tesseract_scene_graph tesseract::tesseract_geometry tesseract::tesseract_collision_core tesseract::tesseract_visualization tesseract::tesseract_common tesseract::tesseract_motion_planners_core ${PROJECT_NAME})
+target_link_libraries(${PROJECT_NAME}_geometry_msg_conversions GTest::GTest GTest::Main Eigen3::Eigen tesseract::tesseract_scene_graph tesseract::tesseract_geometry tesseract::tesseract_collision_core tesseract::tesseract_visualization tesseract::tesseract_common tesseract::tesseract_motion_planners_core ${PROJECT_NAME})
 target_compile_options(${PROJECT_NAME}_geometry_msg_conversions PRIVATE ${TESSERACT_COMPILE_OPTIONS})
 target_clang_tidy(${PROJECT_NAME}_geometry_msg_conversions ARGUMENTS ${TESSERACT_CLANG_TIDY_ARGS} ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
 target_cxx_version(${PROJECT_NAME}_geometry_msg_conversions PUBLIC VERSION 17)

diff --git a/tesseract_rosutils/test/tesseract_rosutils_geometry_msg_conversions.cpp b/tesseract_rosutils/test/tesseract_rosutils_geometry_msg_conversions.cpp
@@ -27,12 +27,12 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
 #include <gtest/gtest.h>
 TESSERACT_COMMON_IGNORE_WARNINGS_POP
 
+#include <tesseract_common/resource_locator.h>
 #include <tesseract_common/unit_test_utils.h>
 #include <tesseract_common/utils.h>
 #include <tesseract_geometry/geometries.h>
 #include <tesseract_geometry/impl/octree_utils.h>
 #include <tesseract_geometry/mesh_parser.h>
-#include <tesseract_support/tesseract_support_resource_locator.h>
 
 #include <tesseract_msgs/Geometry.h>
 #include <tesseract_rosutils/utils.h>
@@ -78,8 +78,8 @@ TEST(TesseractRosutilsGeometryMsgConversions, Cone)  // NOLINT
 
 TEST(TesseractRosutilsGeometryMsgConversions, ConvexMesh)  // NOLINT
 {
-  std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.stl";
-  tesseract_common::TesseractSupportResourceLocator locator;
+  tesseract_common::GeneralResourceLocator locator;
+  std::string path = locator.locateResource("package://tesseract_support/meshes/sphere_p25m.stl")->getFilePath();
   auto object = tesseract_geometry::createMeshFromResource<tesseract_geometry::ConvexMesh>(
       locator.locateResource(path), Eigen::Vector3d(.1, .2, .3), true, true, true, true, true);
   testToMsgFromMsg(*object.back());
@@ -93,8 +93,8 @@ TEST(TesseractRosutilsGeometryMsgConversions, Cylinder)  // NOLINT
 
 TEST(TesseractRosutilsGeometryMsgConversions, Mesh)  // NOLINT
 {
-  std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.stl";
-  tesseract_common::TesseractSupportResourceLocator locator;
+  tesseract_common::GeneralResourceLocator locator;
+  std::string path = locator.locateResource("package://tesseract_support/meshes/sphere_p25m.stl")->getFilePath();
   auto object = tesseract_geometry::createMeshFromResource<tesseract_geometry::Mesh>(
       locator.locateResource(path), Eigen::Vector3d(.1, .2, .3), true, true, true, true, true);
   testToMsgFromMsg(*object.back());
@@ -141,17 +141,17 @@ TEST(TesseractRosutilsGeometryMsgConversions, Plane)  // NOLINT
 
 TEST(TesseractRosutilsGeometryMsgConversions, PolygonMesh)  // NOLINT
 {
-  std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.stl";
-  tesseract_common::TesseractSupportResourceLocator locator;
+  tesseract_common::GeneralResourceLocator locator;
+  std::string path = locator.locateResource("package://tesseract_support/meshes/sphere_p25m.stl")->getFilePath();
   auto object = tesseract_geometry::createMeshFromResource<tesseract_geometry::PolygonMesh>(
       locator.locateResource(path), Eigen::Vector3d(.1, .2, .3), true, true, true, true, true);
   testToMsgFromMsg(*object.back());
 }
 
 TEST(TesseractRosutilsGeometryMsgConversions, SDFMesh)  // NOLINT
 {
-  std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.stl";
-  tesseract_common::TesseractSupportResourceLocator locator;
+  tesseract_common::GeneralResourceLocator locator;
+  std::string path = locator.locateResource("package://tesseract_support/meshes/sphere_p25m.stl")->getFilePath();
   auto object = tesseract_geometry::createMeshFromResource<tesseract_geometry::SDFMesh>(
       locator.locateResource(path), Eigen::Vector3d(.1, .2, .3), true, true, true, true, true);
   testToMsgFromMsg(*object.back());

diff --git a/tesseract_rosutils/test/tesseract_rosutils_unit.cpp b/tesseract_rosutils/test/tesseract_rosutils_unit.cpp
@@ -40,8 +40,10 @@ class TesseractROSUtilsUnit : public ::testing::Test
   {
     auto locator = std::make_shared<ROSResourceLocator>();
     env_ = std::make_shared<Environment>();
-    boost::filesystem::path urdf_path(std::string(TESSERACT_SUPPORT_DIR) + "/urdf/abb_irb2400.urdf");
-    boost::filesystem::path srdf_path(std::string(TESSERACT_SUPPORT_DIR) + "/urdf/abb_irb2400.srdf");
+    boost::filesystem::path urdf_path(
+        locator->locateResource("package://tesseract_support/urdf/abb_irb2400.urdf")->getFilePath());
+    boost::filesystem::path srdf_path(
+        locator->locateResource("package://tesseract_support/urdf/abb_irb2400.srdf")->getFilePath());
     EXPECT_TRUE(env_->init(urdf_path, srdf_path, locator));
   }
 };