CMake fix and cleanup abstract class (#6)

* Install hybrid_planning_demo_node separately to avoid exporting it * Fix exported include directory * Remove getTargetWayPointIndex() from abstract trajectory operator class * Delete unused getTargetWayPointIndex()
ms-iot · Dec 7, 2021 · 5cd1a5f · 5cd1a5f
1 parent ba25036
commit 5cd1a5f
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Showing 5 changed files with 9 additions and 12 deletions.
diff --git a/moveit_ros/hybrid_planning/CMakeLists.txt b/moveit_ros/hybrid_planning/CMakeLists.txt
@@ -68,13 +68,19 @@ rclcpp_components_register_nodes(moveit_hybrid_planning_manager "moveit::hybrid_
 rclcpp_components_register_nodes(moveit_global_planner_component "moveit::hybrid_planning::GlobalPlannerComponent")
 rclcpp_components_register_nodes(moveit_local_planner_component "moveit::hybrid_planning::LocalPlannerComponent")
 
-install(TARGETS ${LIBRARIES} hybrid_planning_demo_node
+install(TARGETS ${LIBRARIES}
   EXPORT export_${PROJECT_NAME}
   ARCHIVE DESTINATION lib
   LIBRARY DESTINATION lib
   RUNTIME DESTINATION lib/${PROJECT_NAME}
   INCLUDES DESTINATION include)
 
+install(TARGETS hybrid_planning_demo_node
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  INCLUDES DESTINATION include)
+
 install(DIRECTORY ${THIS_PACKAGE_INCLUDE_DIRS} DESTINATION include)
 
 install(DIRECTORY test/launch DESTINATION share/${PROJECT_NAME})
@@ -86,7 +92,7 @@ pluginlib_export_plugin_description_file(moveit_hybrid_planning simple_sampler_p
 pluginlib_export_plugin_description_file(moveit_hybrid_planning replan_invalidated_trajectory_plugin.xml)
 pluginlib_export_plugin_description_file(moveit_hybrid_planning forward_trajectory_plugin.xml)
 
-ament_export_include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
+ament_export_include_directories(include)
 ament_export_libraries(${LIBRARIES})
 ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)

diff --git a/...nner/local_planner_component/include/moveit/local_planner/trajectory_operator_interface.h b/...nner/local_planner_component/include/moveit/local_planner/trajectory_operator_interface.h
@@ -101,9 +101,6 @@ class TrajectoryOperatorInterface
    */
   virtual bool reset() = 0;
 
-  /** \brief Return the most recent target waypoint index */
-  virtual size_t getTargetWayPointIndex() = 0;
-
 protected:
   // Reference trajectory to be precessed
   robot_trajectory::RobotTrajectoryPtr reference_trajectory_;

diff --git a/...r/trajectory_operator_plugins/include/moveit/trajectory_operator_plugins/simple_sampler.h b/...r/trajectory_operator_plugins/include/moveit/trajectory_operator_plugins/simple_sampler.h
@@ -58,7 +58,6 @@ class SimpleSampler : public TrajectoryOperatorInterface
                      robot_trajectory::RobotTrajectory& local_trajectory) override;
   double getTrajectoryProgress(const moveit::core::RobotState& current_state) override;
   bool reset() override;
-  size_t getTargetWayPointIndex() override;
 
 private:
   std::size_t

diff --git a/moveit_ros/hybrid_planning/local_planner/trajectory_operator_plugins/src/simple_sampler.cpp b/moveit_ros/hybrid_planning/local_planner/trajectory_operator_plugins/src/simple_sampler.cpp
@@ -119,11 +119,6 @@ SimpleSampler::getLocalTrajectory(const moveit::core::RobotState& current_state,
   return feedback_;
 }
 
-size_t SimpleSampler::getTargetWayPointIndex()
-{
-  return next_waypoint_index_;
-}
-
 double SimpleSampler::getTrajectoryProgress(const moveit::core::RobotState& current_state)
 {
   // Check if trajectory is unwinded

diff --git a/moveit_ros/hybrid_planning/test/launch/hybrid_planning_common.py b/moveit_ros/hybrid_planning/test/launch/hybrid_planning_common.py
@@ -104,7 +104,7 @@ def generate_common_hybrid_launch_description():
                     robot_description_semantic,
                     kinematics_yaml,
                     planning_pipelines_config,
-                    moveit_controllers
+                    moveit_controllers,
                 ],
             ),
             ComposableNode(