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Update ompl_interface with latest version of OMPL (backport #2994) #3600

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Merged
MarqRazz merged 1 commit into from
Nov 26, 2025
Merged

Update ompl_interface with latest version of OMPL (backport #2994) #3600

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2 changes: 1 addition & 1 deletion moveit_planners/ompl/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -27,7 +27,7 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
endif()

include_directories(ompl_interface/include)
include_directories(SYSTEM ${Boost_INCLUDE_DIRS} ${OMPL_INCLUDE_DIRS})
include_directories(SYSTEM ${Boost_INCLUDE_DIRS})

add_subdirectory(ompl_interface)

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36 changes: 16 additions & 20 deletions moveit_planners/ompl/ompl_interface/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -24,28 +24,23 @@ set_target_properties(moveit_ompl_interface

find_package(OpenMP REQUIRED)

# Used to link in ODE, an OMPL dependency, on macOS
if(APPLE)
target_link_directories(moveit_ompl_interface PUBLIC ${OMPL_LIBRARY_DIRS})
endif()

ament_target_dependencies(
moveit_ompl_interface
PUBLIC
moveit_core
moveit_msgs
moveit_ros_planning
rclcpp
pluginlib
tf2_eigen
tf2_ros
OMPL
Boost)
set_target_properties(
moveit_ompl_interface PROPERTIES COMPILE_FLAGS
"${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
set_target_properties(moveit_ompl_interface PROPERTIES LINK_FLAGS
"${OpenMP_CXX_FLAGS}")

target_link_libraries(moveit_ompl_interface PUBLIC ompl::ompl)
add_executable(moveit_generate_state_database
scripts/generate_state_database.cpp)
target_link_libraries(moveit_generate_state_database moveit_ompl_interface)
Expand All @@ -64,9 +59,9 @@ ament_target_dependencies(
rclcpp
pluginlib
tf2_ros
OMPL
Boost)
target_link_libraries(moveit_ompl_planner_plugin moveit_ompl_interface)
target_link_libraries(moveit_ompl_planner_plugin moveit_ompl_interface
ompl::ompl)

install(TARGETS moveit_generate_state_database
RUNTIME DESTINATION lib/${PROJECT_NAME})
Expand All @@ -77,23 +72,24 @@ if(BUILD_TESTING)
find_package(Eigen3 REQUIRED)

ament_add_gtest(test_state_space test/test_state_space.cpp)
ament_target_dependencies(test_state_space moveit_core OMPL Boost Eigen3)
target_link_libraries(test_state_space moveit_ompl_interface)
ament_target_dependencies(test_state_space moveit_core Boost Eigen3)
target_link_libraries(test_state_space moveit_ompl_interface ompl::ompl)
set_target_properties(test_state_space PROPERTIES LINK_FLAGS
"${OpenMP_CXX_FLAGS}")

ament_add_gtest(test_state_validity_checker
test/test_state_validity_checker.cpp)
ament_target_dependencies(test_state_validity_checker moveit_core OMPL Boost
ament_target_dependencies(test_state_validity_checker moveit_core Boost
Eigen3)
target_link_libraries(test_state_validity_checker moveit_ompl_interface)
target_link_libraries(test_state_validity_checker moveit_ompl_interface
ompl::ompl)
set_target_properties(test_state_validity_checker
PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")

ament_add_gtest(test_planning_context_manager
test/test_planning_context_manager.cpp)
ament_target_dependencies(test_planning_context_manager moveit_core tf2_eigen
OMPL Boost Eigen3)
Boost Eigen3)
target_link_libraries(test_planning_context_manager moveit_ompl_interface)

# Disabling flaky test TODO (vatanaksoytezer): Uncomment once this is fixed
Expand All @@ -104,25 +100,25 @@ if(BUILD_TESTING)
ament_add_gtest(test_constrained_planning_state_space
test/test_constrained_planning_state_space.cpp)
ament_target_dependencies(test_constrained_planning_state_space moveit_core
OMPL Boost Eigen3)
Boost Eigen3)
target_link_libraries(test_constrained_planning_state_space
moveit_ompl_interface)
moveit_ompl_interface ompl::ompl)
set_target_properties(test_constrained_planning_state_space
PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")

ament_add_gtest(test_constrained_state_validity_checker
test/test_constrained_state_validity_checker.cpp)
ament_target_dependencies(test_constrained_state_validity_checker moveit_core
OMPL Boost Eigen3)
Boost Eigen3)
target_link_libraries(test_constrained_state_validity_checker
moveit_ompl_interface)
moveit_ompl_interface ompl::ompl)
set_target_properties(test_constrained_state_validity_checker
PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")

ament_add_gtest(test_threadsafe_state_storage
test/test_threadsafe_state_storage.cpp)
ament_target_dependencies(test_threadsafe_state_storage moveit_core OMPL
Boost Eigen3)
ament_target_dependencies(test_threadsafe_state_storage moveit_core Boost
Eigen3)
target_link_libraries(test_threadsafe_state_storage moveit_ompl_interface)
set_target_properties(test_threadsafe_state_storage
PROPERTIES LINK_FLAGS "${OpenMP_CXX_FLAGS}")
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