Remove TesseractSupportResourceLocator

tesseract-robotics · Oct 12, 2024 · f839085 · f839085
1 parent 7702870
commit f839085
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Showing 70 changed files with 421 additions and 672 deletions.
diff --git a/tesseract_collision/examples/CMakeLists.txt b/tesseract_collision/examples/CMakeLists.txt
@@ -1,10 +1,8 @@
-find_package(tesseract_support REQUIRED)
 add_executable(${PROJECT_NAME}_box_box_example box_box_example.cpp)
 target_link_libraries(
   ${PROJECT_NAME}_box_box_example
   ${PROJECT_NAME}_bullet
   ${PROJECT_NAME}_fcl
-  tesseract::tesseract_support
   tesseract::tesseract_geometry
   console_bridge::console_bridge
   ${Boost_LIBRARIES}

diff --git a/tesseract_collision/examples/box_box_example.cpp b/tesseract_collision/examples/box_box_example.cpp
@@ -6,6 +6,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_collision/bullet/bullet_discrete_bvh_manager.h>
 #include <tesseract_collision/bullet/convex_hull_utils.h>
 #include <tesseract_geometry/impl/box.h>
+#include <tesseract_common/resource_locator.h>
 
 using namespace tesseract_collision;
 using namespace tesseract_geometry;
@@ -57,11 +58,15 @@ int main(int /*argc*/, char** /*argv*/)
 
   // documentation:start:4: Add convex hull
   // Add second box to checker, but convert to convex hull mesh
+  tesseract_common::GeneralResourceLocator locator;
   CollisionShapePtr second_box;
 
   auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
   auto mesh_faces = std::make_shared<Eigen::VectorXi>();
-  loadSimplePlyFile(std::string(TESSERACT_SUPPORT_DIR) + "/meshes/box_2m.ply", *mesh_vertices, *mesh_faces, true);
+  loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/box_2m.ply")->getFilePath(),
+                    *mesh_vertices,
+                    *mesh_faces,
+                    true);
 
   auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);
   second_box = makeConvexMesh(*mesh);

diff --git a/tesseract_collision/test/benchmarks/CMakeLists.txt b/tesseract_collision/test/benchmarks/CMakeLists.txt
@@ -1,5 +1,4 @@
 find_package(benchmark REQUIRED)
-find_package(tesseract_support REQUIRED)
 find_package(tesseract_scene_graph REQUIRED)
 
 macro(add_benchmark benchmark_name benchmark_file)
@@ -43,7 +42,6 @@ target_link_libraries(
   PRIVATE ${PROJECT_NAME}_bullet
           ${PROJECT_NAME}_fcl
           tesseract::tesseract_geometry
-          tesseract::tesseract_support
           ${Boost_LIBRARIES}
           ${OCTOMAP_LIBRARIES}
           ${LIBFCL_LIBRARIES})

diff --git a/tesseract_collision/test/benchmarks/collision_profile.cpp b/tesseract_collision/test/benchmarks/collision_profile.cpp
@@ -13,7 +13,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_collision/fcl/fcl_discrete_managers.h>
 
 #include <tesseract_geometry/impl/sphere.h>
-
+#include <tesseract_common/resource_locator.h>
 static const std::size_t DIM = 10;
 
 using namespace tesseract_collision;
@@ -31,8 +31,12 @@ void addCollisionObjects(DiscreteContactManager& checker, bool use_single_link,
   {
     auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
     auto mesh_faces = std::make_shared<Eigen::VectorXi>();
-    loadSimplePlyFile(
-        std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *mesh_vertices, *mesh_faces, true);
+
+    tesseract_common::GeneralResourceLocator locator;
+    loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
+                      *mesh_vertices,
+                      *mesh_faces,
+                      true);
 
     auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);
     sphere = makeConvexMesh(*mesh);
@@ -98,8 +102,12 @@ void addCollisionObjects(ContinuousContactManager& checker, bool use_single_link
   {
     auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
     auto mesh_faces = std::make_shared<Eigen::VectorXi>();
-    loadSimplePlyFile(
-        std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *mesh_vertices, *mesh_faces, true);
+
+    tesseract_common::GeneralResourceLocator locator;
+    loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
+                      *mesh_vertices,
+                      *mesh_faces,
+                      true);
 
     auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);
     sphere = makeConvexMesh(*mesh);

diff --git a/tesseract_collision/test_suite/CMakeLists.txt b/tesseract_collision/test_suite/CMakeLists.txt
@@ -1,12 +1,7 @@
-find_package(tesseract_support REQUIRED)
 # Create test suite interface
 add_library(${PROJECT_NAME}_test_suite INTERFACE)
-target_link_libraries(
-  ${PROJECT_NAME}_test_suite
-  INTERFACE Eigen3::Eigen
-            tesseract::tesseract_support
-            tesseract::tesseract_geometry
-            ${PROJECT_NAME}_core)
+target_link_libraries(${PROJECT_NAME}_test_suite INTERFACE Eigen3::Eigen tesseract::tesseract_geometry
+                                                           ${PROJECT_NAME}_core)
 target_compile_options(${PROJECT_NAME}_test_suite INTERFACE ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_compile_definitions(${PROJECT_NAME}_test_suite INTERFACE ${TESSERACT_COMPILE_DEFINITIONS})
 target_cxx_version(${PROJECT_NAME}_test_suite INTERFACE VERSION ${TESSERACT_CXX_VERSION})
@@ -16,8 +11,7 @@ target_include_directories(${PROJECT_NAME}_test_suite INTERFACE "$<BUILD_INTERFA
 
 # Create test suite benchmarks interface
 add_library(${PROJECT_NAME}_test_suite_benchmarks INTERFACE)
-target_link_libraries(${PROJECT_NAME}_test_suite_benchmarks INTERFACE Eigen3::Eigen tesseract::tesseract_support
-                                                                      tesseract::tesseract_geometry)
+target_link_libraries(${PROJECT_NAME}_test_suite_benchmarks INTERFACE Eigen3::Eigen tesseract::tesseract_geometry)
 target_compile_options(${PROJECT_NAME}_test_suite_benchmarks INTERFACE ${TESSERACT_COMPILE_OPTIONS_PUBLIC})
 target_cxx_version(${PROJECT_NAME}_test_suite_benchmarks INTERFACE VERSION ${TESSERACT_CXX_VERSION})
 target_clang_tidy(${PROJECT_NAME}_test_suite_benchmarks ENABLE ${TESSERACT_ENABLE_CLANG_TIDY})
@@ -38,7 +32,7 @@ configure_component(
   COMPONENT test_suite
   NAMESPACE tesseract
   TARGETS ${PROJECT_NAME}_test_suite ${PROJECT_NAME}_test_suite_benchmarks
-  DEPENDENCIES tesseract_support "tesseract_collision COMPONENTS core")
+  DEPENDENCIES "tesseract_collision COMPONENTS core")
 
 if(TESSERACT_PACKAGE)
   cpack_component(

diff --git a/...test_suite/include/tesseract_collision/test_suite/benchmarks/large_dataset_benchmarks.hpp b/...test_suite/include/tesseract_collision/test_suite/benchmarks/large_dataset_benchmarks.hpp
@@ -10,6 +10,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/core/common.h>
 #include <tesseract_geometry/geometries.h>
+#include <tesseract_common/resource_locator.h>
 
 namespace tesseract_collision
 {
@@ -27,7 +28,12 @@ static void BM_LARGE_DATASET_MULTILINK(benchmark::State& state,
 
   auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
   auto mesh_faces = std::make_shared<Eigen::VectorXi>();
-  loadSimplePlyFile(std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *mesh_vertices, *mesh_faces, true);
+
+  tesseract_common::GeneralResourceLocator locator;
+  loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
+                    *mesh_vertices,
+                    *mesh_faces,
+                    true);
 
   switch (type)
   {
@@ -111,7 +117,12 @@ static void BM_LARGE_DATASET_SINGLELINK(benchmark::State& state,
 
   auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
   auto mesh_faces = std::make_shared<Eigen::VectorXi>();
-  loadSimplePlyFile(std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *mesh_vertices, *mesh_faces, true);
+
+  tesseract_common::GeneralResourceLocator locator;
+  loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
+                    *mesh_vertices,
+                    *mesh_faces,
+                    true);
 
   switch (type)
   {

diff --git a/...ct_collision/test_suite/include/tesseract_collision/test_suite/collision_box_box_unit.hpp b/...ct_collision/test_suite/include/tesseract_collision/test_suite/collision_box_box_unit.hpp
@@ -6,6 +6,7 @@
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/core/common.h>
 #include <tesseract_geometry/geometries.h>
+#include <tesseract_common/resource_locator.h>
 
 namespace tesseract_collision::test_suite
 {
@@ -54,8 +55,11 @@ inline void addCollisionObjects(DiscreteContactManager& checker, bool use_convex
     auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
     auto mesh_faces = std::make_shared<Eigen::VectorXi>();
     // TODO: Need to figure out why this test not pass of bullet when using the box_2m.ply mesh
-    EXPECT_GT(loadSimplePlyFile(
-                  std::string(TESSERACT_SUPPORT_DIR) + "/meshes/box2_2m.ply", *mesh_vertices, *mesh_faces, true),
+    tesseract_common::GeneralResourceLocator locator;
+    EXPECT_GT(loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/box2_2m.ply")->getFilePath(),
+                                *mesh_vertices,
+                                *mesh_faces,
+                                true),
               0);
 
     auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);

diff --git a/...collision/test_suite/include/tesseract_collision/test_suite/collision_box_sphere_unit.hpp b/...collision/test_suite/include/tesseract_collision/test_suite/collision_box_sphere_unit.hpp
@@ -5,6 +5,7 @@
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/core/common.h>
 #include <tesseract_geometry/geometries.h>
+#include <tesseract_common/resource_locator.h>
 
 namespace tesseract_collision::test_suite
 {
@@ -52,9 +53,13 @@ inline void addCollisionObjects(DiscreteContactManager& checker, bool use_convex
   {
     auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
     auto mesh_faces = std::make_shared<Eigen::VectorXi>();
-    EXPECT_GT(loadSimplePlyFile(
-                  std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *mesh_vertices, *mesh_faces, true),
-              0);
+    tesseract_common::GeneralResourceLocator locator;
+    EXPECT_GT(
+        loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
+                          *mesh_vertices,
+                          *mesh_faces,
+                          true),
+        0);
 
     auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);
     sphere = makeConvexMesh(*mesh);

diff --git a/...on/test_suite/include/tesseract_collision/test_suite/collision_compound_compound_unit.hpp b/...on/test_suite/include/tesseract_collision/test_suite/collision_compound_compound_unit.hpp
@@ -9,6 +9,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/core/continuous_contact_manager.h>
 #include <tesseract_geometry/geometries.h>
+#include <tesseract_common/resource_locator.h>
 
 namespace tesseract_collision::test_suite
 {
@@ -20,7 +21,8 @@ inline void addCollisionObjects(T& checker)
   /////////////////////////////////////////////////////////////////
   // Add Octomap
   /////////////////////////////////////////////////////////////////
-  std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/box_2m.bt";
+  tesseract_common::GeneralResourceLocator locator;
+  std::string path = locator.locateResource("package://tesseract_support/meshes/box_2m.bt")->getFilePath();
   auto ot = std::make_shared<octomap::OcTree>(path);
   CollisionShapePtr dense_octomap =
       std::make_shared<tesseract_geometry::Octree>(ot, tesseract_geometry::OctreeSubType::BOX);

diff --git a/...lision/test_suite/include/tesseract_collision/test_suite/collision_large_dataset_unit.hpp b/...lision/test_suite/include/tesseract_collision/test_suite/collision_large_dataset_unit.hpp
@@ -11,6 +11,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/core/common.h>
 #include <tesseract_geometry/geometries.h>
+#include <tesseract_common/resource_locator.h>
 
 namespace tesseract_collision::test_suite
 {
@@ -23,9 +24,13 @@ inline void runTest(DiscreteContactManager& checker, bool use_convex_mesh = fals
   {
     auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
     auto mesh_faces = std::make_shared<Eigen::VectorXi>();
-    EXPECT_GT(loadSimplePlyFile(
-                  std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *mesh_vertices, *mesh_faces, true),
-              0);
+    tesseract_common::GeneralResourceLocator locator;
+    EXPECT_GT(
+        loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
+                          *mesh_vertices,
+                          *mesh_faces,
+                          true),
+        0);
 
     auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);
     sphere = makeConvexMesh(*mesh);

diff --git a/..._collision/test_suite/include/tesseract_collision/test_suite/collision_mesh_mesh_unit.hpp b/..._collision/test_suite/include/tesseract_collision/test_suite/collision_mesh_mesh_unit.hpp
@@ -4,6 +4,7 @@
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/core/common.h>
 #include <tesseract_geometry/geometries.h>
+#include <tesseract_common/resource_locator.h>
 
 namespace tesseract_collision::test_suite
 {
@@ -18,8 +19,12 @@ inline void addCollisionObjects(DiscreteContactManager& checker)
 
   auto vertices = std::make_shared<tesseract_common::VectorVector3d>();
   auto faces = std::make_shared<Eigen::VectorXi>();
+  tesseract_common::GeneralResourceLocator locator;
   int num_faces =
-      loadSimplePlyFile(std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *vertices, *faces, true);
+      loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
+                        *vertices,
+                        *faces,
+                        true);
   EXPECT_GT(num_faces, 0);
 
   sphere = std::make_shared<tesseract_geometry::Mesh>(vertices, faces);

diff --git a/...ision/test_suite/include/tesseract_collision/test_suite/collision_multi_threaded_unit.hpp b/...ision/test_suite/include/tesseract_collision/test_suite/collision_multi_threaded_unit.hpp
@@ -11,6 +11,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/core/common.h>
 #include <tesseract_geometry/geometries.h>
+#include <tesseract_common/resource_locator.h>
 
 namespace tesseract_collision::test_suite
 {
@@ -22,9 +23,13 @@ inline void runTest(DiscreteContactManager& checker, bool use_convex_mesh = fals
   {
     auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
     auto mesh_faces = std::make_shared<Eigen::VectorXi>();
-    EXPECT_GT(loadSimplePlyFile(
-                  std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *mesh_vertices, *mesh_faces, true),
-              0);
+    tesseract_common::GeneralResourceLocator locator;
+    EXPECT_GT(
+        loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
+                          *mesh_vertices,
+                          *mesh_faces,
+                          true),
+        0);
 
     auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);
     sphere = makeConvexMesh(*mesh);

diff --git a/...llision/test_suite/include/tesseract_collision/test_suite/collision_octomap_mesh_unit.hpp b/...llision/test_suite/include/tesseract_collision/test_suite/collision_octomap_mesh_unit.hpp
@@ -11,6 +11,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/core/common.h>
 #include <tesseract_geometry/geometries.h>
+#include <tesseract_common/resource_locator.h>
 
 namespace tesseract_collision::test_suite
 {
@@ -21,7 +22,8 @@ inline void addCollisionObjects(DiscreteContactManager& checker)
   /////////////////////////////////////////////////////////////////
   // Add Octomap
   /////////////////////////////////////////////////////////////////
-  std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/box_2m.bt";
+  tesseract_common::GeneralResourceLocator locator;
+  std::string path = locator.locateResource("package://tesseract_support/meshes/box_2m.bt")->getFilePath();
   auto ot = std::make_shared<octomap::OcTree>(path);
   CollisionShapePtr dense_octomap =
       std::make_shared<tesseract_geometry::Octree>(ot, tesseract_geometry::OctreeSubType::BOX);
@@ -39,7 +41,9 @@ inline void addCollisionObjects(DiscreteContactManager& checker)
   // Add plane mesh to checker.
   /////////////////////////////////////////////////////////////////
   CollisionShapePtr sphere = tesseract_geometry::createMeshFromPath<tesseract_geometry::Mesh>(
-      std::string(TESSERACT_SUPPORT_DIR) + "/meshes/plane_4m.stl", Eigen::Vector3d(1, 1, 1), true)[0];
+      locator.locateResource("package://tesseract_support/meshes/plane_4m.stl")->getFilePath(),
+      Eigen::Vector3d(1, 1, 1),
+      true)[0];
 
   Eigen::Isometry3d sphere_pose;
   sphere_pose.setIdentity();

diff --git a/...sion/test_suite/include/tesseract_collision/test_suite/collision_octomap_octomap_unit.hpp b/...sion/test_suite/include/tesseract_collision/test_suite/collision_octomap_octomap_unit.hpp
@@ -9,6 +9,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/core/continuous_contact_manager.h>
 #include <tesseract_geometry/geometries.h>
+#include <tesseract_common/resource_locator.h>
 
 namespace tesseract_collision::test_suite
 {
@@ -20,7 +21,8 @@ inline void addCollisionObjects(T& checker)
   /////////////////////////////////////////////////////////////////
   // Add Octomap
   /////////////////////////////////////////////////////////////////
-  std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/box_2m.bt";
+  tesseract_common::GeneralResourceLocator locator;
+  std::string path = locator.locateResource("package://tesseract_support/meshes/box_2m.bt")->getFilePath();
   auto ot = std::make_shared<octomap::OcTree>(path);
   CollisionShapePtr dense_octomap =
       std::make_shared<tesseract_geometry::Octree>(ot, tesseract_geometry::OctreeSubType::SPHERE_OUTSIDE);

diff --git a/...ision/test_suite/include/tesseract_collision/test_suite/collision_octomap_sphere_unit.hpp b/...ision/test_suite/include/tesseract_collision/test_suite/collision_octomap_sphere_unit.hpp
@@ -12,6 +12,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
 #include <tesseract_collision/core/discrete_contact_manager.h>
 #include <tesseract_collision/core/common.h>
 #include <tesseract_geometry/geometries.h>
+#include <tesseract_common/resource_locator.h>
 
 namespace tesseract_collision::test_suite
 {
@@ -22,7 +23,8 @@ inline void addCollisionObjects(DiscreteContactManager& checker, bool use_convex
   /////////////////////////////////////////////////////////////////
   // Add Octomap
   /////////////////////////////////////////////////////////////////
-  std::string path = std::string(TESSERACT_SUPPORT_DIR) + "/meshes/blender_monkey.bt";
+  tesseract_common::GeneralResourceLocator locator;
+  std::string path = locator.locateResource("package://tesseract_support/meshes/blender_monkey.bt")->getFilePath();
   auto ot = std::make_shared<octomap::OcTree>(path);
   CollisionShapePtr dense_octomap =
       std::make_shared<tesseract_geometry::Octree>(ot, tesseract_geometry::OctreeSubType::BOX);
@@ -46,9 +48,12 @@ inline void addCollisionObjects(DiscreteContactManager& checker, bool use_convex
   {
     auto mesh_vertices = std::make_shared<tesseract_common::VectorVector3d>();
     auto mesh_faces = std::make_shared<Eigen::VectorXi>();
-    EXPECT_GT(loadSimplePlyFile(
-                  std::string(TESSERACT_SUPPORT_DIR) + "/meshes/sphere_p25m.ply", *mesh_vertices, *mesh_faces, true),
-              0);
+    EXPECT_GT(
+        loadSimplePlyFile(locator.locateResource("package://tesseract_support/meshes/sphere_p25m.ply")->getFilePath(),
+                          *mesh_vertices,
+                          *mesh_faces,
+                          true),
+        0);
 
     auto mesh = std::make_shared<tesseract_geometry::Mesh>(mesh_vertices, mesh_faces);
     sphere = makeConvexMesh(*mesh);