Rebase from 'debian/jazzy/geometric_shapes'

.github/workflows/build_and_test.yaml

@@ -46,10 +46,11 @@ 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 }}-${{ github.run_id }}
           restore-keys: |
@@ -58,31 +59,33 @@ jobs:
       # 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
+    - uses: actions/checkout@v4
     - name: Install clang-format-14
       run: sudo apt-get install clang-format-14
-    - uses: pre-commit/action@v2.0.0
+    - uses: pre-commit/action@v3.0.1

.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, humble, 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: 22.3.0
+    rev: 24.8.0
     hooks:
       - id: black
 

CHANGELOG.rst

@@ -2,6 +2,13 @@
 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>`_)

CMakeLists.txt

@@ -52,6 +52,7 @@ 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
@@ -73,20 +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}
   ${THIS_PACKAGE_EXPORT_DEPENDS}
 )
@@ -114,7 +118,7 @@ install(
   RUNTIME DESTINATION bin
   INCLUDES DESTINATION include
 )
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
 ament_export_dependencies(${THIS_PACKAGE_EXPORT_DEPENDS})