From f2e8479d57726609c1fc01bced42c221867232d9 Mon Sep 17 00:00:00 2001 From: Jeremy Nimmer Date: Wed, 16 Oct 2024 09:49:12 -0700 Subject: [PATCH 1/2] Upgrade to Drake 1.34.0 --- drake_ros/drake.bzl | 6 +++--- drake_ros/viz/scene_markers_system.cc | 6 ++++-- ros2_example_bazel_installed/setup/prereq-rosdep-keys.txt | 2 ++ 3 files changed, 9 insertions(+), 5 deletions(-) diff --git a/drake_ros/drake.bzl b/drake_ros/drake.bzl index 8f78cf54..482abee2 100644 --- a/drake_ros/drake.bzl +++ b/drake_ros/drake.bzl @@ -1,5 +1,5 @@ DRAKE_SUGGESTED_VERSION = struct( - url = "https://github.com/RobotLocomotion/drake/archive/refs/tags/v1.32.0.tar.gz", # noqa - sha256 = "8d8211a1654956891cf43f698d01a3742f3aa2237d03635cb03e6cf3e8631b38", # noqa, - strip_prefix = "drake-1.32.0", + url = "https://github.com/RobotLocomotion/drake/archive/refs/tags/v1.34.0.tar.gz", # noqa + sha256 = "0b57df077192a9480b799320c1edee3cc524d5e9b97aaa6861de09681542175f", # noqa, + strip_prefix = "drake-1.34.0", ) diff --git a/drake_ros/viz/scene_markers_system.cc b/drake_ros/viz/scene_markers_system.cc index 5248a538..c3a03cda 100644 --- a/drake_ros/viz/scene_markers_system.cc +++ b/drake_ros/viz/scene_markers_system.cc @@ -213,7 +213,8 @@ class SceneGeometryToMarkers : public drake::geometry::ShapeReifier { marker.scale.y = convex.scale(); marker.scale.z = convex.scale(); // Assume it is an absolute path and turn it into a file URL. - marker.mesh_resource = "file://" + convex.filename(); + DRAKE_THROW_UNLESS(convex.source().is_path()); + marker.mesh_resource = "file://" + convex.source().path().string(); marker.pose = RigidTransformToRosPose(X_FG_); } @@ -226,7 +227,8 @@ class SceneGeometryToMarkers : public drake::geometry::ShapeReifier { marker.scale.y = mesh.scale(); marker.scale.z = mesh.scale(); // Assume it is an absolute path and turn it into a file URL. - marker.mesh_resource = "file://" + mesh.filename(); + DRAKE_THROW_UNLESS(mesh.source().is_path()); + marker.mesh_resource = "file://" + mesh.source().path().string(); marker.pose = RigidTransformToRosPose(X_FG_); } diff --git a/ros2_example_bazel_installed/setup/prereq-rosdep-keys.txt b/ros2_example_bazel_installed/setup/prereq-rosdep-keys.txt index 895c17b0..422f44c3 100644 --- a/ros2_example_bazel_installed/setup/prereq-rosdep-keys.txt +++ b/ros2_example_bazel_installed/setup/prereq-rosdep-keys.txt @@ -17,6 +17,8 @@ libfreetype6-dev libopencv-dev liborocos-kdl-dev libpcl-all-dev +libpcl-common +libpcl-io libqt5-core libqt5-gui libqt5-opengl From 05296bc2d9878037bad03421cf465fcb9e383ecc Mon Sep 17 00:00:00 2001 From: "betsy.mcphail" Date: Wed, 16 Oct 2024 15:32:01 -0400 Subject: [PATCH 2/2] Find python before pybind11 --- drake_ros/CMakeLists.txt | 1 + drake_ros/drake_ros/CMakeLists.txt | 1 - 2 files changed, 1 insertion(+), 1 deletion(-) diff --git a/drake_ros/CMakeLists.txt b/drake_ros/CMakeLists.txt index a40174c5..82b6996f 100644 --- a/drake_ros/CMakeLists.txt +++ b/drake_ros/CMakeLists.txt @@ -13,6 +13,7 @@ endif() find_package(ament_cmake_ros REQUIRED) find_package(drake REQUIRED) +find_package(Python3 COMPONENTS Interpreter Development) # Must use Drake's fork of Pybind11 find_package(pybind11 REQUIRED HINTS "${drake_DIR}/../pybind11" NO_DEFAULT_PATH) diff --git a/drake_ros/drake_ros/CMakeLists.txt b/drake_ros/drake_ros/CMakeLists.txt index fba53e36..05b7a13d 100644 --- a/drake_ros/drake_ros/CMakeLists.txt +++ b/drake_ros/drake_ros/CMakeLists.txt @@ -25,7 +25,6 @@ install( ) if(BUILD_TESTING) - find_package(Python3 COMPONENTS Interpreter) find_package(ament_cmake_test REQUIRED) # TODO(eric.cousineau): I am not sure how to place a test-only Python library