Merge branch 'devel'

.github/workflows/industrial_ci_action.yml

@@ -1,7 +1,7 @@
 # This config uses industrial_ci (https://github.com/ros-industrial/industrial_ci.git).
 # For troubleshooting, see readme (https://github.com/ros-industrial/industrial_ci/blob/master/README.rst)
 
-name: CI
+name: ROS-CI
 
 # This determines when this workflow is run
 on: [push, pull_request] # on all pushes and PRs
@@ -11,21 +11,13 @@ jobs:
     strategy:
       matrix:
         env:
-          - {ROS_DISTRO: melodic}
-          - {ROS_DISTRO: noetic}
-          - {ROS_DISTRO: foxy, PRERELEASE: true}
-          - {ROS_DISTRO: rolling, PRERELEASE: true}
+          - {ROS_DISTRO: noetic, PRERELEASE: true}
+          - {ROS_DISTRO: iron, PRERELEASE: true}
+          #- {ROS_DISTRO: rolling}  # 2024-03-12 temporarily deactivate until transitin to Ubuntu Noble is complete
     env:
-      CCACHE_DIR: /github/home/.ccache # Enable ccache
       BUILDER: colcon
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v2
-      # This step will fetch/store the directory used by ccache before/after the ci run
-      - uses: actions/cache@v2
-        with:
-          path: ${{ env.CCACHE_DIR }}
-          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
-      # Run industrial_ci
+      - uses: actions/checkout@v4
       - uses: 'ros-industrial/industrial_ci@master'
         env: ${{ matrix.env }}

CMakeLists.txt

@@ -17,10 +17,8 @@ ADD_SUBDIRECTORY( octomap )
 
 if(BUILD_OCTOVIS_SUBPROJECT)
 	ADD_SUBDIRECTORY( octovis )
-endif()		
+endif()
 
-if(BUILD_DYNAMICETD3D_SUBPROJECT)	
+if(BUILD_DYNAMICETD3D_SUBPROJECT)
 	ADD_SUBDIRECTORY( dynamicEDT3D )
-endif()		
-
-
+endif()

README.md

@@ -56,6 +56,15 @@ To compile the complete package, run:
 Binaries and libs will end up in the directories `bin` and `lib` of the
 top-level directory where you started the build.
 
+Alternatively, you can build and install octomap using [vcpkg](https://github.com/Microsoft/vcpkg/) dependency manager:
+
+    git clone https://github.com/Microsoft/vcpkg.git
+    cd vcpkg
+    ./bootstrap-vcpkg.sh
+    ./vcpkg integrate install
+    ./vcpkg install octomap
+
+The octomap port in vcpkg is kept up to date by Microsoft team members and community contributors. If the version is out of date, please [create an issue or pull request](https://github.com/Microsoft/vcpkg) on the vcpkg repository.
 
 See [octomap README](octomap/README.md) and [octovis README](octovis/README.md) for further
 details and hints on compiling, especially under Windows.

dynamicEDT3D/CMakeLists.txt

@@ -1,13 +1,13 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 3.0.2)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 PROJECT(dynamicEDT3D)
 
 include(CTest)
 include(GNUInstallDirs)
 
 # version (e.g. for packaging)
 set(DYNAMICEDT3D_MAJOR_VERSION 1)
-set(DYNAMICEDT3D_MINOR_VERSION 9)
-set(DYNAMICEDT3D_PATCH_VERSION 8)
+set(DYNAMICEDT3D_MINOR_VERSION 10)
+set(DYNAMICEDT3D_PATCH_VERSION 0)
 set(DYNAMICEDT3D_VERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION}.${DYNAMICEDT3D_PATCH_VERSION})
 set(DYNAMICEDT3D_SOVERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION})
 
@@ -76,19 +76,20 @@ install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packa
 #TODO: this conflicts with the octomap uninstall
 #it is not only a target name problem, also both will use the same manifest file
 #in the same binary directory
-#configure_file(
-#    "${PROJECT_SOURCE_DIR}/CMakeModules/CMakeUninstall.cmake.in"
-#    "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
-#    IMMEDIATE @ONLY)
-#
-#add_custom_target(uninstall
-#    COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
+if(NOT TARGET uninstall)
+    configure_file(
+        "${PROJECT_SOURCE_DIR}/CMakeModules/CMakeUninstall.cmake.in"
+        "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
+        IMMEDIATE @ONLY)
 
+    add_custom_target(uninstall
+        COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
+endif()
 
 # Export the package for use from the build-tree
 # (this registers the build-tree with a global CMake-registry)
 export(PACKAGE dynamicEDT3D)
- 
+
 # Create a dynamicEDT3DConfig.cmake file for the use from the build tree
 set(DYNAMICEDT3D_INCLUDE_DIRS "${INCLUDE_DIRS}")
 set(DYNAMICEDT3D_LIB_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
@@ -122,7 +123,7 @@ WRITE_BASIC_PACKAGE_VERSION_FILE(
 #install(EXPORT FooBarLibraryDepends DESTINATION
 #  "${INSTALL_DATA_DIR}/FooBar/CMake"
 #  COMPONENT dev)
- 
+
 # Create a dynamicEDT3DConfig.cmake file for the use from the install tree
 # and install it
 set(DYNAMICEDT3D_INCLUDE_DIRS "${CMAKE_INSTALL_FULL_INCLUDEDIR}")
@@ -145,7 +146,7 @@ WRITE_BASIC_PACKAGE_VERSION_FILE(
 
 install(FILES
   "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig.cmake"
-  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake" 
+  "${PROJECT_BINARY_DIR}/InstallFiles/dynamicEDT3DConfig-version.cmake"
   DESTINATION "${CMAKE_INSTALL_DATADIR}/dynamicEDT3D")
 
 # Write pkgconfig-file:
@@ -157,7 +158,7 @@ install_pkg_config_file(dynamicEDT3D
     VERSION ${DYNAMICEDT3D_VERSION})
 
 
-# Documentation 
+# Documentation
 FIND_PACKAGE(Doxygen)
 IF(DOXYGEN_FOUND)
   ADD_CUSTOM_TARGET(docs_dynamicEDT3D ${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/dynamicEDT3D.dox
@@ -169,7 +170,7 @@ ENDIF(DOXYGEN_FOUND)
 INCLUDE(CPackSettings)
 
 # Finished:
-MESSAGE ("\n")
+MESSAGE (STATUS "\n")
 MESSAGE (STATUS "Compile dynamicEDT3D using: make")
 MESSAGE (STATUS "Install dynamicEDT3D using: make install")
 MESSAGE (STATUS "    (be sure to set the correct CMAKE_INSTALL_PREFIX before)")

dynamicEDT3D/CMakeModules/CompilerSettings.cmake

@@ -4,13 +4,13 @@ IF(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
    SET(CMAKE_BUILD_TYPE Release)
 ENDIF(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
 
-MESSAGE ("\n")
+MESSAGE (STATUS "\n")
 MESSAGE (STATUS "${PROJECT_NAME} building as ${CMAKE_BUILD_TYPE}")
 
 # OCTOMAP_OMP = enable OpenMP
 # SET(OCTOMAP_OMP 1 CACHE BOOL "Enable/disable OpenMP")
 # IF($ENV{OCTOMAP_OMP})
-#   SET(OCTOMAP_OMP $ENV{OCTOMAP_OMP}) 
+#   SET(OCTOMAP_OMP $ENV{OCTOMAP_OMP})
 #   MESSAGE(STATUS "Found OCTOMAP_OMP=${OCTOMAP_OMP}")
 # ENDIF($ENV{OCTOMAP_OMP})
 
@@ -21,7 +21,7 @@ IF (CMAKE_COMPILER_IS_GNUCC)
   SET (CMAKE_CXX_FLAGS_RELEASE "-O3 -funroll-loops -DNDEBUG")
   SET (CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
   # Shared object compilation under 64bit (vtable)
-  ADD_DEFINITIONS(-fPIC)  
+  ADD_DEFINITIONS(-fPIC)
   # IF(OCTOMAP_OMP)
   #   SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fopenmp")
   #   SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -fopenmp")

dynamicEDT3D/package.xml

@@ -1,6 +1,6 @@
 <package format="3">
   <name>dynamic_edt_3d</name>
-  <version>1.9.8</version>
+  <version>1.10.0</version>
   <description> The dynamicEDT3D library implements an inrementally updatable Euclidean distance transform (EDT) in 3D. It comes with a wrapper to use the OctoMap 3D representation and hooks into the change detection of the OctoMap library to propagate changes to the EDT.</description>
 
   <author email="sprunkc@informatik.uni-freiburg.de">Christoph Sprunk</author>

octomap/CHANGELOG.txt

@@ -1,3 +1,21 @@
+v1.10.0: 2024-03-19
+===================
+- CMake: Fix duplicate uninstall target (#406)
+- Fix errors with recent compilers and C++17/20 standard (#394)
+- Fix ScanGraph.h c++20 compilation error (#398)
+- Add smaller than operator for vectors (#330)
+- Add vcpkg installation instructions to Readme (#382)
+- Fix test dependencies in CMakeLists (#374)
+- replace deprecated std::iterator by defining required types (#373)
+- octovis: fix issue with saving not showing any dialog (#414)
+- octovis: Fix deprecated QString and glext redefinition warning (#375)
+- octovis: Declare missing dependency on opengl (#408)
+- ROS: Updates to compile cleanly on ROS 2 Rolling on Ubuntu 24.04 (#415)
+- ROS: Remove ccache  for ROS-Industrial CI yml (#413)
+- ROS: Remove EOL ROS distros from CI actions
+
+
+
 v1.9.8: 2022-05-12
 ==================
 - Also set lowercase octomap_* variables in CMake config (#369)

octomap/CMakeLists.txt

@@ -1,13 +1,13 @@
-CMAKE_MINIMUM_REQUIRED(VERSION 3.0.2)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.5)
 PROJECT( octomap )
 
 include(CTest)
 include(GNUInstallDirs)
 
 # version (e.g. for packaging)
 set(OCTOMAP_MAJOR_VERSION 1)
-set(OCTOMAP_MINOR_VERSION 9)
-set(OCTOMAP_PATCH_VERSION 8)
+set(OCTOMAP_MINOR_VERSION 10)
+set(OCTOMAP_PATCH_VERSION 0)
 set(OCTOMAP_VERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION}.${OCTOMAP_PATCH_VERSION})
 set(OCTOMAP_SOVERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION})
 if(COMMAND cmake_policy)
@@ -77,18 +77,20 @@ file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} DESTINATION share/ament_index/resource_index/packages)
 
 # uninstall target
-configure_file(
-    "${PROJECT_SOURCE_DIR}/CMakeModules/CMakeUninstall.cmake.in"
-    "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
-    IMMEDIATE @ONLY)
+if(NOT TARGET uninstall)
+    configure_file(
+        "${PROJECT_SOURCE_DIR}/CMakeModules/CMakeUninstall.cmake.in"
+        "${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake"
+        IMMEDIATE @ONLY)
 
-add_custom_target(uninstall
-    COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
+    add_custom_target(uninstall
+        COMMAND ${CMAKE_COMMAND} -P ${CMAKE_CURRENT_BINARY_DIR}/cmake_uninstall.cmake)
+endif()
 
 # Export the package for use from the build-tree
 # (this registers the build-tree with a global CMake-registry)
 export(PACKAGE octomap)
- 
+
 # Create a octomap-config.cmake file for the use from the build tree
 set(OCTOMAP_INCLUDE_DIRS "${INCLUDE_DIRS}")
 set(OCTOMAP_LIB_DIR "${CMAKE_LIBRARY_OUTPUT_DIRECTORY}")
@@ -147,7 +149,7 @@ WRITE_BASIC_PACKAGE_VERSION_FILE(
 
 install(FILES
   "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config.cmake"
-  "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config-version.cmake" 
+  "${PROJECT_BINARY_DIR}/InstallFiles/octomap-config-version.cmake"
   DESTINATION "${CMAKE_INSTALL_DATADIR}/octomap")
 
 # Write pkgconfig-file:
@@ -158,7 +160,7 @@ install_pkg_config_file(octomap
     REQUIRES
     VERSION ${OCTOMAP_VERSION})
 
-# Documentation 
+# Documentation
 FIND_PACKAGE(Doxygen)
 IF(DOXYGEN_FOUND)
   configure_file(${CMAKE_CURRENT_SOURCE_DIR}/octomap.dox.in ${CMAKE_CURRENT_BINARY_DIR}/octomap.dox @ONLY)
@@ -171,7 +173,7 @@ ENDIF(DOXYGEN_FOUND)
 INCLUDE(CPackSettings)
 
 # Finished:
-MESSAGE ("\n")
+MESSAGE (STATUS "\n")
 MESSAGE (STATUS "Compile octomap using: make")
 MESSAGE (STATUS "Install octomap using: make install")
 MESSAGE (STATUS "    (be sure to set the correct CMAKE_INSTALL_PREFIX before)")

octomap/CMakeModules/CompilerSettings.cmake

@@ -4,7 +4,7 @@ IF(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
    SET(CMAKE_BUILD_TYPE Release)
 ENDIF(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
 
-MESSAGE ("\n")
+MESSAGE (STATUS "\n")
 MESSAGE (STATUS "${PROJECT_NAME} building as ${CMAKE_BUILD_TYPE}")
 
 # COMPILER FLAGS

octomap/include/octomap/AbstractOcTree.h

@@ -51,7 +51,7 @@ namespace octomap {
     friend class StaticMapInit;
   public:
     AbstractOcTree();
-    virtual ~AbstractOcTree() {};
+    virtual ~AbstractOcTree() {}
 
     /// virtual constructor: creates a new object of same type
     virtual AbstractOcTree* create() const = 0;

octomap/include/octomap/AbstractOccupancyOcTree.h

@@ -52,7 +52,7 @@ namespace octomap {
   class AbstractOccupancyOcTree : public AbstractOcTree {
   public:
     AbstractOccupancyOcTree();
-    virtual ~AbstractOccupancyOcTree() {};
+    virtual ~AbstractOccupancyOcTree() {}
 
     //-- IO
 

octomap/include/octomap/ColorOcTree.h

@@ -192,7 +192,7 @@ namespace octomap {
          * StaticMemberInitializer, causing this tree failing to register.
          * Needs to be called from the constructor of this octree.
          */
-         void ensureLinking() {};
+         void ensureLinking() {}
     };
     /// static member to ensure static initialization (only once)
     static StaticMemberInitializer colorOcTreeMemberInit;

octomap/include/octomap/CountingOcTree.h

@@ -110,7 +110,7 @@ namespace octomap {
          * StaticMemberInitializer, causing this tree failing to register.
          * Needs to be called from the constructor of this octree.
          */
-         void ensureLinking() {};
+         void ensureLinking() {}
     };
     /// static member to ensure static initialization (only once)
     static StaticMemberInitializer countingOcTreeMemberInit;

octomap/include/octomap/OcTree.h

@@ -59,7 +59,7 @@ namespace octomap {
      */
     OcTree(std::string _filename);
 
-    virtual ~OcTree(){};
+    virtual ~OcTree(){}
 
     /// virtual constructor: creates a new object of same type
     /// (Covariant return type requires an up-to-date compiler)
@@ -89,7 +89,7 @@ namespace octomap {
 	     * StaticMemberInitializer, causing this tree failing to register.
 	     * Needs to be called from the constructor of this octree.
 	     */
-	    void ensureLinking() {};
+	    void ensureLinking() {}
     };
 
     /// to ensure static initialization (only once)

octomap/include/octomap/OcTreeBase.h

@@ -43,7 +43,7 @@ namespace octomap {
   template <class NODE>
   class OcTreeBase : public OcTreeBaseImpl<NODE,AbstractOcTree> {
   public:
-    OcTreeBase<NODE>(double res) : OcTreeBaseImpl<NODE,AbstractOcTree>(res) {};
+    OcTreeBase(double res) : OcTreeBaseImpl<NODE,AbstractOcTree>(res) {}
 
     /// virtual constructor: creates a new object of same type
     /// (Covariant return type requires an up-to-date compiler)

octomap/include/octomap/OcTreeBaseImpl.h

@@ -244,7 +244,7 @@ namespace octomap {
     virtual size_t memoryUsage() const;
 
     /// \return Memory usage of a single octree node
-    virtual inline size_t memoryUsageNode() const {return sizeof(NODE); };
+    virtual inline size_t memoryUsageNode() const {return sizeof(NODE); }
 
     /// \return Memory usage of a full grid of the same size as the OcTree in bytes (for comparison)
     /// \note this can be larger than the adressable memory - size_t may not be enough to hold it!
@@ -324,12 +324,12 @@ namespace octomap {
     typedef leaf_iterator iterator;
 
     /// @return beginning of the tree as leaf iterator
-    iterator begin(unsigned char maxDepth=0) const {return iterator(this, maxDepth);};
+    iterator begin(unsigned char maxDepth=0) const {return iterator(this, maxDepth);}
     /// @return end of the tree as leaf iterator
-    const iterator end() const {return leaf_iterator_end;}; // TODO: RVE?
+    const iterator end() const {return leaf_iterator_end;} // TODO: RVE?
 
     /// @return beginning of the tree as leaf iterator
-    leaf_iterator begin_leafs(unsigned char maxDepth=0) const {return leaf_iterator(this, maxDepth);};
+    leaf_iterator begin_leafs(unsigned char maxDepth=0) const {return leaf_iterator(this, maxDepth);}
     /// @return end of the tree as leaf iterator
     const leaf_iterator end_leafs() const {return leaf_iterator_end;}
 

octomap/include/octomap/OcTreeDataNode.h

@@ -100,9 +100,9 @@ namespace octomap {
     OCTOMAP_DEPRECATED(bool hasChildren() const);
 
     /// @return value stored in the node
-    T getValue() const{return value;};
+    T getValue() const{return value;}
     /// sets value to be stored in the node
-    void setValue(T v) {value = v;};
+    void setValue(T v) {value = v;}
 
     // file IO: