From dd33b8bfb49a52ae9370b1d11506afd69a2c5fb2 Mon Sep 17 00:00:00 2001
From: nkalupahana <avishkank@gmail.com>
Date: Thu, 8 Jul 2021 10:57:21 -0700
Subject: [PATCH 1/4] fixes for bullet

---
 moveit_core/CMakeModules/FindBULLET.cmake             | 2 +-
 moveit_core/collision_detection_bullet/CMakeLists.txt | 4 ++++
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/moveit_core/CMakeModules/FindBULLET.cmake b/moveit_core/CMakeModules/FindBULLET.cmake
index bfe4056a14..b747034d60 100644
--- a/moveit_core/CMakeModules/FindBULLET.cmake
+++ b/moveit_core/CMakeModules/FindBULLET.cmake
@@ -6,5 +6,5 @@ if(PKGCONFIG_FOUND)
 endif()
 
 find_package_handle_standard_args(BULLET
-                                  REQUIRED_VARS BULLET_LIBRARIES BULLET_INCLUDE_DIRS
+                                  REQUIRED_VARS BULLET_LIBRARIES BULLET_INCLUDE_DIRS BULLET_LIBRARY_DIRS
                                   VERSION_VAR BULLET_VERSION)
diff --git a/moveit_core/collision_detection_bullet/CMakeLists.txt b/moveit_core/collision_detection_bullet/CMakeLists.txt
index 5d8e87d9a3..01a5d17c2e 100644
--- a/moveit_core/collision_detection_bullet/CMakeLists.txt
+++ b/moveit_core/collision_detection_bullet/CMakeLists.txt
@@ -13,6 +13,10 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_V
 ament_target_dependencies(${MOVEIT_LIB_NAME} SYSTEM
   BULLET
 )
+if(APPLE)
+  target_link_directories(${MOVEIT_LIB_NAME} PUBLIC ${BULLET_LIBRARY_DIRS})
+endif()
+
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   rclcpp
   rmw_implementation

From 525d00cd7ad4c0bc897496e0a169af8ecd9b9822 Mon Sep 17 00:00:00 2001
From: nkalupahana <avishkank@gmail.com>
Date: Thu, 8 Jul 2021 22:13:52 -0700
Subject: [PATCH 2/4] fix ode linking issue

---
 moveit_planners/ompl/ompl_interface/CMakeLists.txt | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/moveit_planners/ompl/ompl_interface/CMakeLists.txt b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
index 1cc110a84f..ff71c07c00 100644
--- a/moveit_planners/ompl/ompl_interface/CMakeLists.txt
+++ b/moveit_planners/ompl/ompl_interface/CMakeLists.txt
@@ -26,6 +26,11 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_V
 
 find_package(OpenMP REQUIRED)
 
+# Used to link in ODE, an OMPL dependency, on macOS
+if(APPLE)
+  target_link_directories(${MOVEIT_LIB_NAME} PUBLIC ${OMPL_LIBRARY_DIRS})
+endif()
+
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   moveit_core
   moveit_msgs

From 5dd313902398f09f72185ff46eaf54f5f4bf8d7c Mon Sep 17 00:00:00 2001
From: nkalupahana <avishkank@gmail.com>
Date: Fri, 9 Jul 2021 10:34:38 -0700
Subject: [PATCH 3/4] remove findbullet

---
 moveit_core/CMakeLists.txt                            |  2 --
 moveit_core/CMakeModules/FindBULLET.cmake             | 10 ----------
 moveit_core/collision_detection_bullet/CMakeLists.txt |  3 ---
 3 files changed, 15 deletions(-)
 delete mode 100644 moveit_core/CMakeModules/FindBULLET.cmake

diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
index c8db89ea76..64ac199c3a 100644
--- a/moveit_core/CMakeLists.txt
+++ b/moveit_core/CMakeLists.txt
@@ -13,8 +13,6 @@ find_package(Eigen3 REQUIRED)
 # Finds Boost Components
 include(ConfigExtras.cmake)
 
-list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/CMakeModules")
-
 find_package(Bullet 2.87 REQUIRED)
 
 find_package(PkgConfig REQUIRED)
diff --git a/moveit_core/CMakeModules/FindBULLET.cmake b/moveit_core/CMakeModules/FindBULLET.cmake
deleted file mode 100644
index b747034d60..0000000000
--- a/moveit_core/CMakeModules/FindBULLET.cmake
+++ /dev/null
@@ -1,10 +0,0 @@
-include(FindPackageHandleStandardArgs)
-find_package(PkgConfig)
-
-if(PKGCONFIG_FOUND)
-  pkg_check_modules(BULLET bullet)
-endif()
-
-find_package_handle_standard_args(BULLET
-                                  REQUIRED_VARS BULLET_LIBRARIES BULLET_INCLUDE_DIRS BULLET_LIBRARY_DIRS
-                                  VERSION_VAR BULLET_VERSION)
diff --git a/moveit_core/collision_detection_bullet/CMakeLists.txt b/moveit_core/collision_detection_bullet/CMakeLists.txt
index 01a5d17c2e..7dd7af2a71 100644
--- a/moveit_core/collision_detection_bullet/CMakeLists.txt
+++ b/moveit_core/collision_detection_bullet/CMakeLists.txt
@@ -13,9 +13,6 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_V
 ament_target_dependencies(${MOVEIT_LIB_NAME} SYSTEM
   BULLET
 )
-if(APPLE)
-  target_link_directories(${MOVEIT_LIB_NAME} PUBLIC ${BULLET_LIBRARY_DIRS})
-endif()
 
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   rclcpp

From 171cdd4aed0de8969c8ef90d717f0d0bc8f9af68 Mon Sep 17 00:00:00 2001
From: Nisala Kalupahana <avishkank@gmail.com>
Date: Thu, 29 Jul 2021 23:40:05 -0500
Subject: [PATCH 4/4] Update CMakeLists.txt

---
 moveit_core/collision_detection_bullet/CMakeLists.txt | 1 -
 1 file changed, 1 deletion(-)

diff --git a/moveit_core/collision_detection_bullet/CMakeLists.txt b/moveit_core/collision_detection_bullet/CMakeLists.txt
index f75a807851..1918466bac 100644
--- a/moveit_core/collision_detection_bullet/CMakeLists.txt
+++ b/moveit_core/collision_detection_bullet/CMakeLists.txt
@@ -16,7 +16,6 @@ set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_V
 ament_target_dependencies(${MOVEIT_LIB_NAME} SYSTEM
   BULLET
 )
-
 ament_target_dependencies(${MOVEIT_LIB_NAME}
   rclcpp
   rmw_implementation