Rebase from 'upstream'

Author: sea-bass

.github/workflows/build_and_test.yaml

@@ -20,13 +20,19 @@ jobs:
             CCOV: true
           - ROS_DISTRO: rolling
             ROS_REPO: testing
-          - ROS_DISTRO: galactic
+          - ROS_DISTRO: jazzy
             ROS_REPO: main
-          - ROS_DISTRO: galactic
+          - ROS_DISTRO: jazzy
             ROS_REPO: testing
-          - ROS_DISTRO: foxy
+          - ROS_DISTRO: humble
+            ROS_REPO: main
+          - ROS_DISTRO: humble
             ROS_REPO: testing
+
     env:
+      # Globally disable git security
+      # https://github.blog/2022-04-12-git-security-vulnerability-announced
+      BEFORE_SETUP_UPSTREAM_WORKSPACE: 'sudo apt-get -qq install -y --no-upgrade --no-install-recommends git && git config --global --add safe.directory "*"'
       UPSTREAM_WORKSPACE: geometric_shapes.repos
       AFTER_SETUP_UPSTREAM_WORKSPACE: 'vcs pull $BASEDIR/upstream_ws/src'
       AFTER_RUN_TARGET_TEST: ${{ matrix.env.CCOV && './.ci.prepare_codecov' || '' }}
@@ -40,43 +46,46 @@ jobs:
     name: "${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}${{ matrix.env.CCOV && ' + ccov' || ''}}"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: cache upstream_ws
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: actions/cache@v4
         with:
+          save-always: true
           path: ${{ env.BASEDIR }}/upstream_ws
-          key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2.repos') }}-${{ github.run_id }}
+          key: upstream_ws-${{ env.CACHE_PREFIX }}-${{ github.run_id }}
           restore-keys: |
-            upstream_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('moveit2.repos') }}
+            upstream_ws-${{ env.CACHE_PREFIX }}
       # The target directory cache doesn't include the source directory because
       # that comes from the checkout.  See "prepare target_ws for cache" task below
       - name: cache target_ws
         if: ${{ ! matrix.env.CCOV }}
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: actions/cache@v4
         with:
+          save-always: true
           path: ${{ env.BASEDIR }}/target_ws
           key: target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}-${{ github.run_id }}
           restore-keys: |
             target_ws-${{ env.CACHE_PREFIX }}-${{ hashFiles('**/CMakeLists.txt', '**/package.xml') }}
       - name: cache ccache
-        uses: pat-s/always-upload-cache@v2.1.5
+        uses: actions/cache@v4
         with:
+          save-always: true
           path: ${{ env.CCACHE_DIR }}
           key: ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}-${{ github.run_id }}
           restore-keys: |
             ccache-${{ env.CACHE_PREFIX }}-${{ github.sha }}
             ccache-${{ env.CACHE_PREFIX }}
       - name: industrial_ci
-        uses: 'ros-industrial/industrial_ci@master'
+        uses: ros-industrial/industrial_ci@master
         env: ${{ matrix.env }}
       - name: upload test artifacts (on failure)
-        uses: actions/upload-artifact@v2
+        uses: actions/upload-artifact@v4
         if: failure()
         with:
           name: test-results
           path: ${{ env.BASEDIR }}/target_ws/**/test_results/**/*.xml
       - name: upload codecov report
-        uses: codecov/codecov-action@v1
+        uses: codecov/codecov-action@v4
         if: ${{ matrix.env.CCOV }}
         with:
           files: ${{ env.BASEDIR }}/coverage.info

.github/workflows/format.yaml

@@ -13,8 +13,7 @@ jobs:
     name: Format
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v2
-    - uses: actions/setup-python@v2
-    - name: Install clang-format-10
-      run: sudo apt-get install clang-format-10
-    - uses: pre-commit/[email protected]
+    - uses: actions/checkout@v4
+    - name: Install clang-format-14
+      run: sudo apt-get install clang-format-14
+    - uses: pre-commit/[email protected]

.github/workflows/prerelease.yaml

@@ -5,22 +5,26 @@ name: pre-release
 
 on:
   workflow_dispatch:
+    inputs:
+      ROS_DISTRO:
+        type: string
+        required: true
+        description: 'ROS distribution codename:'
+        default: rolling
+
+permissions:
+  contents: read # to fetch code (actions/checkout)
 
 jobs:
   default:
-    strategy:
-      fail-fast: false
-      matrix:
-        distro: [foxy, galactic, rolling]
-
     env:
-      ROS_DISTRO: ${{ matrix.distro }}
+      ROS_DISTRO: ${{ inputs.ROS_DISTRO }}
       PRERELEASE: true
       BASEDIR: ${{ github.workspace }}/.work
 
-    name: "${{ matrix.distro }}"
+    name: "${{ inputs.ROS_DISTRO }}"
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
+      - uses: actions/checkout@v4
       - name: industrial_ci
         uses: ros-industrial/industrial_ci@master

.pre-commit-config.yaml

@@ -15,7 +15,7 @@
 repos:
   # Standard hooks
   - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v3.4.0
+    rev: v4.6.0
     hooks:
       - id: check-added-large-files
       - id: check-case-conflict
@@ -34,7 +34,7 @@ repos:
       - id: trailing-whitespace
 
   - repo: https://github.com/psf/black
-    rev: 20.8b1
+    rev: 24.8.0
     hooks:
       - id: black
 
@@ -43,7 +43,7 @@ repos:
       - id: clang-format
         name: clang-format
         description: Format files with ClangFormat.
-        entry: clang-format-10
+        entry: clang-format-14
         language: system
         files: \.(c|cc|cxx|cpp|frag|glsl|h|hpp|hxx|ih|ispc|ipp|java|js|m|proto|vert)$
         args: ['-fallback-style=none', '-i']

CHANGELOG.rst

@@ -2,6 +2,30 @@
 Changelog for package geometric_shapes
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.3.0 (2024-11-29)
+------------------
+* Install headers into subdirectory (`#253 <https://github.com/moveit/geometric_shapes/issues/253>`_)
+* Added bodies::Body::computeBoundingBox (oriented box version) (`#239 <https://github.com/moveit/geometric_shapes/issues/239>`_)
+* Improve padding of meshes using weighted vertex normals (`#240 <https://github.com/moveit/geometric_shapes/issues/240>`_)
+* Contributors: Kenji Brameld (TRACLabs), Robert Haschke, Sebastian Castro, Sebastian Pelletier, Tyler Mayoff
+
+2.2.1 (2024-06-26)
+------------------
+* Use the system version of octomap (`#244 <https://github.com/ros-planning/geometric_shapes/issues/244>`_)
+* Contributors: Chris Lalancette
+
+2.2.0 (2024-06-07)
+------------------
+* Jazzy Support (`#241 <https://github.com/moveit/geometric_shapes/issues/241>`_)
+  * Update CI workflows to Rolling, Jazzy, Humble
+  * Fix octomap dependency version to 1.9.7...<1.10.0
+* Fix Box::print (`#237 <https://github.com/moveit/geometric_shapes/issues/237>`_)
+* CI: Fix cache key (`#236 <https://github.com/moveit/geometric_shapes/issues/236>`_)
+* Switch to clang-format-14 (`#228 <https://github.com/moveit/geometric_shapes/issues/228>`_)
+* Add humble testing (`#221 <https://github.com/moveit/geometric_shapes/issues/221>`_)
+* Update black version (`#218 <https://github.com/moveit/geometric_shapes/issues/218>`_)
+* Contributors: Henning Kayser, Matthijs van der Burgh, Stephanie Eng, Vatan Aksoy Tezer, Robert Haschke, Jafar Abdi
+
 2.1.3 (2022-03-08)
 ------------------
 * [jammy] Fix assimp linking and cmake error (`#215 <https://github.com/ros-planning/geometric_shapes/issues/215>`_)

CMakeLists.txt

@@ -43,13 +43,16 @@ find_package(console_bridge REQUIRED)
 find_package(console_bridge_vendor REQUIRED)
 find_package(eigen_stl_containers REQUIRED)
 find_package(geometry_msgs REQUIRED)
-find_package(OCTOMAP REQUIRED)
+# Enforce the system package version on Ubuntu jammy and noble which is also used by libfcl-dev
+# The version is fixed to prevent ABI conflicts with ros-octomap
+find_package(octomap 1.9.7...<1.10.0 REQUIRED)
 find_package(QHULL REQUIRED)
 find_package(random_numbers REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(resource_retriever REQUIRED)
 find_package(shape_msgs REQUIRED)
 find_package(visualization_msgs REQUIRED)
+find_package(fcl REQUIRED)
 include(ConfigExtras)
 
 set(THIS_PACKAGE_EXPORT_DEPENDS
@@ -60,7 +63,7 @@ set(THIS_PACKAGE_EXPORT_DEPENDS
   console_bridge_vendor
   eigen_stl_containers
   geometry_msgs
-  OCTOMAP
+  octomap
   random_numbers
   rclcpp
   resource_retriever
@@ -71,20 +74,23 @@ set(THIS_PACKAGE_EXPORT_DEPENDS
 # Set VERSION from package.xml
 ament_package_xml()
 
-include_directories(include)
-
 add_library(${PROJECT_NAME} SHARED
   src/aabb.cpp
   src/bodies.cpp
   src/body_operations.cpp
   src/mesh_operations.cpp
+  src/obb.cpp
   src/shape_extents.cpp
   src/shape_operations.cpp
   src/shape_to_marker.cpp
   src/shapes.cpp
 )
 set_target_properties(${PROJECT_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION} WINDOWS_EXPORT_ALL_SYMBOLS TRUE)
 target_compile_options(${PROJECT_NAME} PRIVATE ${PROJECT_COMPILE_OPTIONS})
+target_include_directories(${PROJECT_NAME}
+    PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+           $<INSTALL_INTERFACE:include/${PROJECT_NAME}>)
+target_link_libraries(${PROJECT_NAME} fcl)
 ament_target_dependencies(${PROJECT_NAME}
   ${THIS_PACKAGE_EXPORT_DEPENDS}
 )
@@ -112,7 +118,7 @@ install(
   RUNTIME DESTINATION bin
   INCLUDES DESTINATION include
 )
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_EXPORT_DEPENDS})

include/geometric_shapes/bodies.h

@@ -33,6 +33,7 @@
 
 #define _USE_MATH_DEFINES
 #include "geometric_shapes/aabb.h"
+#include "geometric_shapes/obb.h"
 #include "geometric_shapes/shapes.h"
 #include <eigen_stl_containers/eigen_stl_containers.h>
 #include <random_numbers/random_numbers.h>
@@ -240,6 +241,10 @@ class Body
       pose. Scaling and padding are accounted for. */
   virtual void computeBoundingBox(AABB& bbox) const = 0;
 
+  /** \brief Compute the oriented bounding box for the body, in its current
+     pose. Scaling and padding are accounted for. */
+  virtual void computeBoundingBox(OBB& bbox) const = 0;
+
   /** \brief Get a clone of this body, but one that is located at the pose \e pose */
   inline BodyPtr cloneAt(const Eigen::Isometry3d& pose) const
   {
@@ -307,6 +312,7 @@ class Sphere : public Body
   void computeBoundingSphere(BoundingSphere& sphere) const override;
   void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
   void computeBoundingBox(AABB& bbox) const override;
+  void computeBoundingBox(OBB& bbox) const override;
   bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                      EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;
 
@@ -359,6 +365,7 @@ class Cylinder : public Body
   void computeBoundingSphere(BoundingSphere& sphere) const override;
   void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
   void computeBoundingBox(AABB& bbox) const override;
+  void computeBoundingBox(OBB& bbox) const override;
   bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                      EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;
 
@@ -421,6 +428,7 @@ class Box : public Body
   void computeBoundingSphere(BoundingSphere& sphere) const override;
   void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
   void computeBoundingBox(AABB& bbox) const override;
+  void computeBoundingBox(OBB& bbox) const override;
   bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                      EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;
 
@@ -483,6 +491,7 @@ class ConvexMesh : public Body
   void computeBoundingSphere(BoundingSphere& sphere) const override;
   void computeBoundingCylinder(BoundingCylinder& cylinder) const override;
   void computeBoundingBox(AABB& bbox) const override;
+  void computeBoundingBox(OBB& bbox) const override;
   bool intersectsRay(const Eigen::Vector3d& origin, const Eigen::Vector3d& dir,
                      EigenSTL::vector_Vector3d* intersections = nullptr, unsigned int count = 0) const override;
 

include/geometric_shapes/body_operations.h

@@ -67,6 +67,9 @@ void mergeBoundingSpheres(const std::vector<BoundingSphere>& spheres, BoundingSp
 /** \brief Compute an axis-aligned bounding box to enclose a set of bounding boxes. */
 void mergeBoundingBoxes(const std::vector<AABB>& boxes, AABB& mergedBox);
 
+/** \brief Compute an approximate oriented bounding box to enclose a set of bounding boxes. */
+void mergeBoundingBoxesApprox(const std::vector<OBB>& boxes, OBB& mergedBox);
+
 /** \brief Compute the bounding sphere for a set of \e bodies and store the resulting sphere in \e mergedSphere */
 void computeBoundingSphere(const std::vector<const Body*>& bodies, BoundingSphere& mergedSphere);
 }  // namespace bodies