Backport of Migrate CHOMP and collision tutorials from ROS1 (#492) to…

… humble (#742) * Migrate CHOMP and collision tutorials from ROS1 (#492) * Migrated tutorial from ROS1 * Fix merging error in CMakeLists.txt --------- Co-authored-by: Henning Kayser <[email protected]> Co-authored-by: Sebastian Jahr <[email protected]> (cherry picked from commit 725c7d8) # Conflicts: # CMakeLists.txt # doc/examples/chomp_planner/chomp_planner_tutorial.rst # doc/examples/planning_adapters/planning_adapters_tutorial.rst # doc/how_to_guides/how_to_guides.rst * Address rebasing conflicts * Remove references to non-existing files and cleanup * Cleanups * Update doc/examples/examples.rst --------- Co-authored-by: Michael Wrock <[email protected]> Co-authored-by: Sebastian Jahr <[email protected]>
moveit · Aug 10, 2023 · 1926dab · 1926dab
1 parent 439debd
commit 1926dab
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -76,11 +76,13 @@ add_subdirectory(doc/examples/robot_model_and_robot_state)
 # add_subdirectory(doc/examples/tests)
 # add_subdirectory(doc/examples/trajopt_planner)
 # add_subdirectory(doc/examples/creating_moveit_plugins/lerp_motion_planner)
+# add_subdirectory(doc/examples/visualizing_collisions)
 add_subdirectory(doc/examples/moveit_cpp)
 # add_subdirectory(doc/examples/collision_environments)
 # add_subdirectory(doc/examples/visualizing_collisions)
 # add_subdirectory(doc/examples/bullet_collision_checker)
 add_subdirectory(doc/examples/realtime_servo)
+add_subdirectory(doc/how_to_guides/chomp_planner)
 add_subdirectory(doc/how_to_guides/using_ompl_constrained_planning)
 
 ament_export_dependencies(

diff --git a/doc/examples/chomp_planner/chomp_planner_tutorial.rst b/doc/examples/chomp_planner/chomp_planner_tutorial.rst
diff --git a/doc/examples/collision_environments/CMakeLists.txt b/doc/examples/collision_environments/CMakeLists.txt
@@ -1,4 +1,11 @@
-catkin_install_python(PROGRAMS
-  scripts/collision_scene_example.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+add_executable(collision_scene_example
+    src/collision_scene_example.cpp)
+target_include_directories(collision_scene_example
+    PUBLIC include)
+ament_target_dependencies(collision_scene_example
+    ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
+
+install(TARGETS collision_scene_example
+    ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION lib/${PROJECT_NAME})
diff --git a/doc/examples/collision_environments/scripts/collision_scene_example.py b/doc/examples/collision_environments/scripts/collision_scene_example.py