Update kinematics and collision packages to leverage cmake components (…

…#927)

.cmake-format

@@ -44,8 +44,22 @@ with section("parse"):
     'configure_package': {
       'pargs': {'nargs': 0},
       'kwargs': {
+        'COMPONENT': '?',
         'NAMESPACE': '?',
         'TARGETS': '*',
+        'SUPPORTED_COMPONENTS': '*',
+        'DEPENDENCIES': '*',
+        'CFG_EXTRAS': '*',
+      }
+    },
+    'configure_component': {
+      'pargs': {'nargs': 0},
+      'kwargs': {
+        'COMPONENT': '?',
+        'NAMESPACE': '?',
+        'TARGETS': '*',
+        'DEPENDENCIES': '*',
+        'CFG_EXTRAS': '*',
       }
     },
     'add_gtest_discover_tests': {
@@ -98,16 +112,66 @@ with section("parse"):
         'EXCLUDE': '*',
       }
     },
-    'tesseract_cpack': {
+    'install_targets': {
       'pargs': {'nargs': 0},
       'kwargs': {
-        'VERSION': 1,
-        'MAINTAINER': 1,
-        'DESCRIPTION': 1,
-        'LICENSE_FILE': 1,
-        'README_FILE': 1,
+        'TARGETS': '*',
+        'COMPONENT': '?',
+      }
+    },
+    'cpack': {
+      'pargs': {'nargs': 0},
+      'kwargs': {
+        'VERSION': '?',
+        'MAINTAINER_NAME': '?',
+        'MAINTAINER_EMAIL': '?',
+        'VENDOR': '?',
+        'DESCRIPTION': '?',
+        'LICENSE_FILE': '?',
+        'README_FILE': '?',
+        'PACKAGE_PREFIX': '?',
+        'LINUX_BUILD_DEPENDS': '*',
+        'WINDOWS_BUILD_DEPENDS': '*',
+        'LINUX_DEPENDS': '*',
+        'WINDOWS_DEPENDS': '*',
+      }
+    },
+    'cpack_component_package': {
+      'pargs': {'nargs': 0},
+      'kwargs': {
+        'VERSION': '?',
+        'MAINTAINER_NAME': '?',
+        'MAINTAINER_EMAIL': '?',
+        'VENDOR': '?',
+        'DESCRIPTION': '?',
+        'LICENSE_FILE': '?',
+        'README_FILE': '?',
+        'PACKAGE_PREFIX': '?',
+        'COMPONENT_DEPENDS': '*',
+      }
+    },
+    'cpack_component': {
+      'pargs': {'nargs': 0},
+      'kwargs': {
+        'COMPONENT': '?',
+        'VERSION': '?',
+        'DESCRIPTION': '?',
+        'PACKAGE_PREFIX': '?',
+        'LINUX_BUILD_DEPENDS': '*',
+        'WINDOWS_BUILD_DEPENDS': '*',
         'LINUX_DEPENDS': '*',
         'WINDOWS_DEPENDS': '*',
+        'COMPONENT_DEPENDS': '*',
+      }
+    },
+    'cpack_debian_source_package': {
+      'pargs': {'nargs': 0},
+      'kwargs': {
+        'CHANGLELOG': '?',
+        'UPLOAD': '?',
+        'DPUT_HOST': '?',
+        'DEBIAN_INCREMENT': '?',
+        'DISTRIBUTIONS': '*',
       }
     },
   }

.github/workflows/windows_dependencies.repos

@@ -1,7 +1,7 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.4.5
+    version: 0.5.3
 - git:
     local-name: opw_kinematics
     uri: https://github.com/Jmeyer1292/opw_kinematics.git

dependencies.repos

@@ -1,7 +1,7 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.4.7
+    version: 0.5.3
 - git:
     local-name: opw_kinematics
     uri: https://github.com/Jmeyer1292/opw_kinematics.git

dependencies_with_ext.repos

@@ -1,7 +1,7 @@
 - git:
     local-name: ros_industrial_cmake_boilerplate
     uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
-    version: 0.4.7
+    version: 0.5.3
 - git:
     local-name: tesseract_ext
     uri: https://github.com/ros-industrial-consortium/tesseract_ext.git

tesseract_collision/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.6.0)
+cmake_minimum_required(VERSION 3.15.0)
 
 # Extract package name and version
 find_package(ros_industrial_cmake_boilerplate REQUIRED)
@@ -9,13 +9,13 @@ if(WIN32)
   set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 endif()
 
+# All of these are used by all components so to avoid having them in each they are include here
 find_package(Eigen3 REQUIRED)
 find_package(Boost REQUIRED COMPONENTS system program_options serialization)
 find_package(octomap REQUIRED)
 find_package(console_bridge REQUIRED)
 find_package(tesseract_geometry REQUIRED)
 find_package(tesseract_common REQUIRED)
-find_package(tesseract_support REQUIRED)
 find_package(yaml-cpp REQUIRED)
 
 # These targets are necessary for 16.04 builds. Remove when Kinetic support is dropped
@@ -71,22 +71,34 @@ endif()
 set(CONTACT_MANAGERS_PLUGINS "")
 
 # Core
+set(SUPPORTED_COMPONENTS core)
 add_subdirectory(core)
 
 # Bullet (currently required for creation of convex hulls)
+list(APPEND SUPPORTED_COMPONENTS bullet)
 add_subdirectory(bullet)
 
+# Test Suite
+option(TESSERACT_BUILD_TEST_SUITE "Build Test Suite components" ON)
+if(TESSERACT_BUILD_TEST_SUITE)
+  message("Building Test Suite components")
+  list(APPEND SUPPORTED_COMPONENTS test_suite)
+  add_subdirectory(test_suite)
+endif()
+
 # FCL
 option(TESSERACT_BUILD_FCL "Build FCL components" ON)
 if(TESSERACT_BUILD_FCL)
   message("Building FCL components")
+  list(APPEND SUPPORTED_COMPONENTS fcl)
   add_subdirectory(fcl)
 endif()
 
 # VHACD
 option(TESSERACT_BUILD_VHACD "Build VHACD components" ON)
 if(TESSERACT_BUILD_VHACD)
   message("Building VHACD components")
+  list(APPEND SUPPORTED_COMPONENTS vhacd)
   add_subdirectory(vhacd)
 endif()
 
@@ -107,7 +119,8 @@ if((TESSERACT_ENABLE_TESTING OR TESSERACT_COLLISION_ENABLE_TESTING) AND TESSERAC
 endif()
 
 # Benchmarks
-if((TESSERACT_ENABLE_BENCHMARKING OR TESSERACT_COLLISION_ENABLE_BENCHMARKING) AND TESSERACT_BUILD_FCL)
+if((TESSERACT_ENABLE_BENCHMARKING OR TESSERACT_COLLISION_ENABLE_BENCHMARKING) AND TESSERACT_BUILD_FCL
+   AND TESSERACT_BUILD_TEST_SUITE)
   add_subdirectory(test/benchmarks)
 endif()
 
@@ -116,40 +129,24 @@ if((TESSERACT_ENABLE_EXAMPLES OR TESSERACT_COLLISION_ENABLE_EXAMPLES) AND TESSER
   add_subdirectory(examples)
 endif()
 
-configure_package(NAMESPACE tesseract)
+configure_package(COMPONENT core SUPPORTED_COMPONENTS ${SUPPORTED_COMPONENTS})
 
 if(TESSERACT_PACKAGE)
-  set(LINUX_DEPENDS
-      "libbullet-dev"
-      "libbullet-extras-dev"
-      "libeigen3-dev"
-      "libconsole-bridge-dev"
-      "libyaml-cpp-dev"
-      "${TESSERACT_PACKAGE_PREFIX}tesseract-geometry"
-      "${TESSERACT_PACKAGE_PREFIX}tesseract-common"
-      "${TESSERACT_PACKAGE_PREFIX}tesseract-support")
-
-  set(WINDOWS_DEPENDS
-      "Eigen3"
-      "console_bridge"
-      "bullet"
-      "bullet_extras"
-      "yaml-cpp"
-      "${TESSERACT_PACKAGE_PREFIX}tesseract-geometry"
-      "${TESSERACT_PACKAGE_PREFIX}tesseract-common"
-      "${TESSERACT_PACKAGE_PREFIX}tesseract-support")
-
-  if(TESSERACT_BUILD_FCL)
-    list(APPEND LINUX_DEPENDS "libfcl-dev (>= 0.6.0) | ${TESSERACT_PACKAGE_PREFIX}fcl")
-    list(APPEND LINUX_DEPENDS "fcl (>= 0.6.0) | ${TESSERACT_PACKAGE_PREFIX}fcl")
-  endif()
-
-  tesseract_cpack(
+  cpack_component_package(
     VERSION ${pkg_extracted_version}
-    MAINTAINER <https://github.com/ros-industrial-consortium/tesseract>
+    MAINTAINER_NAME ${pkg_extracted_maintainer_name}
+    MAINTAINER_EMAIL ${pkg_extracted_maintainer_email}
     DESCRIPTION ${pkg_extracted_description}
     LICENSE_FILE ${CMAKE_CURRENT_LIST_DIR}/../LICENSE
     README_FILE ${CMAKE_CURRENT_LIST_DIR}/../README.md
-    LINUX_DEPENDS ${LINUX_DEPENDS}
-    WINDOWS_DEPENDS ${WINDOWS_DEPENDS})
+    COMPONENT_DEPENDS ${SUPPORTED_COMPONENTS})
+
+  if(UNIX AND TESSERACT_PACKAGE_SOURCE)
+    cpack_debian_source_package(
+      CHANGLELOG ${CMAKE_CURRENT_LIST_DIR}/CHANGELOG.rst
+      UPLOAD ${TESSERACT_PACKAGE_SOURCE_UPLOAD}
+      DPUT_HOST ${TESSERACT_PACKAGE_SOURCE_DPUT_HOST}
+      DEBIAN_INCREMENT ${TESSERACT_PACKAGE_SOURCE_DEBIAN_INCREMENT}
+      DISTRIBUTIONS ${TESSERACT_PACKAGE_SOURCE_DISTRIBUTIONS})
+  endif()
 endif()

tesseract_collision/bullet/CMakeLists.txt

@@ -80,7 +80,7 @@ if(${HACD_LIBRARY})
   target_include_directories(
     ${PROJECT_NAME}_hacd_convex_decomposition PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
                                                      "$<INSTALL_INTERFACE:include>")
-  install_targets(TARGETS ${PROJECT_NAME}_hacd_convex_decomposition)
+  install_targets(TARGETS ${PROJECT_NAME}_hacd_convex_decomposition COMPONENT bullet)
 endif()
 
 if(NOT MSVC)
@@ -108,7 +108,7 @@ if(NOT MSVC)
 
   list(APPEND PACKAGE_LIBRARIES create_convex_hull)
 
-  install_targets(TARGETS create_convex_hull)
+  install_targets(TARGETS create_convex_hull COMPONENT bullet)
 endif()
 
 # Add factory library so contact_managers_factory can find these factories by defauult
@@ -124,4 +124,19 @@ install(
   PATTERN "*.inl"
   PATTERN ".svn" EXCLUDE)
 
-install_targets(TARGETS ${PROJECT_NAME}_bullet ${PROJECT_NAME}_bullet_factories)
+configure_component(
+  COMPONENT bullet
+  NAMESPACE tesseract
+  TARGETS ${PROJECT_NAME}_bullet ${PROJECT_NAME}_bullet_factories
+  DEPENDENCIES "tesseract_collision COMPONENTS core"
+  CFG_EXTRAS cmake/bullet-extras.cmake)
+
+if(TESSERACT_PACKAGE)
+  cpack_component(
+    COMPONENT bullet
+    VERSION ${pkg_extracted_version}
+    DESCRIPTION "Tesseract Collision bullet components"
+    COMPONENT_DEPENDS core
+    LINUX_DEPENDS "libbullet-dev" "libbullet-extras-dev"
+    WINDOWS_DEPENDS "libbullet-dev" "libbullet-extras-dev")
+endif()

tesseract_collision/bullet/cmake/bullet-extras.cmake

@@ -0,0 +1 @@
+find_bullet()