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Update to leverage std::filesystem #592

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Feb 20, 2025
Merged

Update to leverage std::filesystem #592

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2 changes: 2 additions & 0 deletions tesseract_command_language/src/profile_dictionary.cpp
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Expand Up @@ -29,6 +29,8 @@
#include <boost/serialization/shared_ptr.hpp>
#include <boost/serialization/unordered_map.hpp>

#include <mutex>

namespace tesseract_planning
{
bool ProfileDictionary::hasProfileEntry(std::size_t key, const std::string& ns) const
Expand Down
6 changes: 4 additions & 2 deletions tesseract_examples/src/basic_cartesian_example.cpp
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Expand Up @@ -34,6 +34,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_POP
#include <tesseract_examples/basic_cartesian_example.h>

#include <tesseract_common/stopwatch.h>
#include <tesseract_common/resource_locator.h>

#include <tesseract_collision/core/types.h>

Expand Down Expand Up @@ -176,8 +177,9 @@ bool BasicCartesianExample::run()
console_bridge::setLogLevel(console_bridge::LogLevel::CONSOLE_BRIDGE_LOG_INFO);

// Create Task Composer Plugin Factory
const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
std::shared_ptr<const tesseract_common::ResourceLocator> locator = env_->getResourceLocator();
std::filesystem::path config_path(
locator->locateResource("package://tesseract_task_composer/config/task_composer_plugins.yaml")->getFilePath());
TaskComposerPluginFactory factory(config_path, *env_->getResourceLocator());

// Create Program
Expand Down
6 changes: 3 additions & 3 deletions tesseract_examples/src/basic_cartesian_example_node.cpp
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Expand Up @@ -25,7 +25,7 @@
*/

#include <tesseract_examples/basic_cartesian_example.h>
#include <tesseract_common/filesystem.h>
#include <filesystem>
#include <tesseract_environment/environment.h>
#include <tesseract_common/resource_locator.h>

Expand All @@ -36,9 +36,9 @@ using namespace tesseract_environment;
int main(int /*argc*/, char** /*argv*/)
{
auto locator = std::make_shared<GeneralResourceLocator>();
tesseract_common::fs::path urdf_path =
std::filesystem::path urdf_path =
locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.urdf")->getFilePath();
tesseract_common::fs::path srdf_path =
std::filesystem::path srdf_path =
locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.srdf")->getFilePath();
auto env = std::make_shared<Environment>();
if (!env->init(urdf_path, srdf_path, locator))
Expand Down
2 changes: 1 addition & 1 deletion tesseract_examples/src/car_seat_example.cpp
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Expand Up @@ -249,7 +249,7 @@ bool CarSeatExample::run()

// Create Task Composer Plugin Factory
const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
std::filesystem::path config_path(share_dir + "/config/task_composer_plugins.yaml");
TaskComposerPluginFactory factory(config_path, *env_->getResourceLocator());

// Get manipulator
Expand Down
6 changes: 3 additions & 3 deletions tesseract_examples/src/car_seat_example_node.cpp
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Expand Up @@ -25,7 +25,7 @@
*/

#include <tesseract_examples/car_seat_example.h>
#include <tesseract_common/filesystem.h>
#include <filesystem>
#include <tesseract_environment/environment.h>
#include <tesseract_common/resource_locator.h>

Expand All @@ -36,9 +36,9 @@ using namespace tesseract_environment;
int main(int /*argc*/, char** /*argv*/)
{
auto locator = std::make_shared<GeneralResourceLocator>();
tesseract_common::fs::path urdf_path =
std::filesystem::path urdf_path =
locator->locateResource("package://tesseract_support/urdf/car_seat_demo.urdf")->getFilePath();
tesseract_common::fs::path srdf_path =
std::filesystem::path srdf_path =
locator->locateResource("package://tesseract_support/urdf/car_seat_demo.srdf")->getFilePath();
auto env = std::make_shared<Environment>();
if (!env->init(urdf_path, srdf_path, locator))
Expand Down
2 changes: 1 addition & 1 deletion tesseract_examples/src/freespace_hybrid_example.cpp
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Expand Up @@ -163,7 +163,7 @@ bool FreespaceHybridExample::run()

// Create Task Composer Plugin Factory
const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
std::filesystem::path config_path(share_dir + "/config/task_composer_plugins.yaml");
TaskComposerPluginFactory factory(config_path, *env_->getResourceLocator());

// Create Program
Expand Down
6 changes: 3 additions & 3 deletions tesseract_examples/src/freespace_hybrid_example_node.cpp
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Expand Up @@ -25,7 +25,7 @@
*/

#include <tesseract_examples/freespace_hybrid_example.h>
#include <tesseract_common/filesystem.h>
#include <filesystem>
#include <tesseract_environment/environment.h>
#include <tesseract_common/resource_locator.h>

Expand All @@ -36,9 +36,9 @@ using namespace tesseract_environment;
int main(int /*argc*/, char** /*argv*/)
{
auto locator = std::make_shared<GeneralResourceLocator>();
tesseract_common::fs::path urdf_path =
std::filesystem::path urdf_path =
locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.urdf")->getFilePath();
tesseract_common::fs::path srdf_path =
std::filesystem::path srdf_path =
locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.srdf")->getFilePath();
auto env = std::make_shared<Environment>();
if (!env->init(urdf_path, srdf_path, locator))
Expand Down
2 changes: 1 addition & 1 deletion tesseract_examples/src/freespace_ompl_example.cpp
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Expand Up @@ -149,7 +149,7 @@ bool FreespaceOMPLExample::run()

// Create Task Composer Plugin Factory
const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
std::filesystem::path config_path(share_dir + "/config/task_composer_plugins.yaml");
TaskComposerPluginFactory factory(config_path, *env_->getResourceLocator());

// Create Program
Expand Down
6 changes: 3 additions & 3 deletions tesseract_examples/src/freespace_ompl_example_node.cpp
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Expand Up @@ -25,7 +25,7 @@
*/

#include <tesseract_examples/freespace_ompl_example.h>
#include <tesseract_common/filesystem.h>
#include <filesystem>
#include <tesseract_environment/environment.h>
#include <tesseract_common/resource_locator.h>

Expand All @@ -36,9 +36,9 @@ using namespace tesseract_environment;
int main(int /*argc*/, char** /*argv*/)
{
auto locator = std::make_shared<GeneralResourceLocator>();
tesseract_common::fs::path urdf_path =
std::filesystem::path urdf_path =
locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.urdf")->getFilePath();
tesseract_common::fs::path srdf_path =
std::filesystem::path srdf_path =
locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.srdf")->getFilePath();
auto env = std::make_shared<Environment>();
if (!env->init(urdf_path, srdf_path, locator))
Expand Down
2 changes: 1 addition & 1 deletion tesseract_examples/src/glass_upright_example.cpp
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Expand Up @@ -165,7 +165,7 @@ bool GlassUprightExample::run()

// Create Task Composer Plugin Factory
const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
std::filesystem::path config_path(share_dir + "/config/task_composer_plugins.yaml");
TaskComposerPluginFactory factory(config_path, *env_->getResourceLocator());

// Create Program
Expand Down
6 changes: 3 additions & 3 deletions tesseract_examples/src/glass_upright_example_node.cpp
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Expand Up @@ -25,7 +25,7 @@
*/

#include <tesseract_examples/glass_upright_example.h>
#include <tesseract_common/filesystem.h>
#include <filesystem>
#include <tesseract_environment/environment.h>
#include <tesseract_common/resource_locator.h>

Expand All @@ -36,9 +36,9 @@ using namespace tesseract_environment;
int main(int /*argc*/, char** /*argv*/)
{
auto locator = std::make_shared<GeneralResourceLocator>();
tesseract_common::fs::path urdf_path =
std::filesystem::path urdf_path =
locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.urdf")->getFilePath();
tesseract_common::fs::path srdf_path =
std::filesystem::path srdf_path =
locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.srdf")->getFilePath();
auto env = std::make_shared<Environment>();
if (!env->init(urdf_path, srdf_path, locator))
Expand Down
6 changes: 3 additions & 3 deletions tesseract_examples/src/glass_upright_ompl_example_node.cpp
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Expand Up @@ -25,7 +25,7 @@
*/

#include <tesseract_examples/glass_upright_ompl_example.h>
#include <tesseract_common/filesystem.h>
#include <filesystem>
#include <tesseract_environment/environment.h>
#include <tesseract_common/resource_locator.h>

Expand All @@ -36,9 +36,9 @@ using namespace tesseract_environment;
int main(int argc, char** argv)
{
auto locator = std::make_shared<GeneralResourceLocator>();
tesseract_common::fs::path urdf_path =
std::filesystem::path urdf_path =
locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.urdf")->getFilePath();
tesseract_common::fs::path srdf_path =
std::filesystem::path srdf_path =
locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.srdf")->getFilePath();
auto env = std::make_shared<Environment>();
if (!env->init(urdf_path, srdf_path, locator))
Expand Down
6 changes: 3 additions & 3 deletions tesseract_examples/src/online_planning_example_node.cpp
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Expand Up @@ -30,7 +30,7 @@
*/

#include <tesseract_examples/online_planning_example.h>
#include <tesseract_common/filesystem.h>
#include <filesystem>
#include <tesseract_environment/environment.h>
#include <tesseract_common/resource_locator.h>

Expand All @@ -41,9 +41,9 @@ using namespace tesseract_environment;
int main(int /*argc*/, char** /*argv*/)
{
auto locator = std::make_shared<GeneralResourceLocator>();
tesseract_common::fs::path urdf_path =
std::filesystem::path urdf_path =
locator->locateResource("package://tesseract_support/urdf/online_planning_example.urdf")->getFilePath();
tesseract_common::fs::path srdf_path =
std::filesystem::path srdf_path =
locator->locateResource("package://tesseract_support/urdf/online_planning_example.srdf")->getFilePath();
auto env = std::make_shared<Environment>();
if (!env->init(urdf_path, srdf_path, locator))
Expand Down
2 changes: 1 addition & 1 deletion tesseract_examples/src/pick_and_place_example.cpp
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Expand Up @@ -180,7 +180,7 @@ bool PickAndPlaceExample::run()

// Create Task Composer Plugin Factory
const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
std::filesystem::path config_path(share_dir + "/config/task_composer_plugins.yaml");
TaskComposerPluginFactory factory(config_path, *env_->getResourceLocator());

// Create Program
Expand Down
6 changes: 3 additions & 3 deletions tesseract_examples/src/pick_and_place_example_node.cpp
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Expand Up @@ -25,7 +25,7 @@
*/

#include <tesseract_examples/pick_and_place_example.h>
#include <tesseract_common/filesystem.h>
#include <filesystem>
#include <tesseract_environment/environment.h>
#include <tesseract_common/resource_locator.h>

Expand All @@ -36,9 +36,9 @@ using namespace tesseract_environment;
int main(int /*argc*/, char** /*argv*/)
{
auto locator = std::make_shared<GeneralResourceLocator>();
tesseract_common::fs::path urdf_path =
std::filesystem::path urdf_path =
locator->locateResource("package://tesseract_support/urdf/pick_and_place_plan.urdf")->getFilePath();
tesseract_common::fs::path srdf_path =
std::filesystem::path srdf_path =
locator->locateResource("package://tesseract_support/urdf/pick_and_place_plan.srdf")->getFilePath();
auto env = std::make_shared<Environment>();
if (!env->init(urdf_path, srdf_path, locator))
Expand Down
2 changes: 1 addition & 1 deletion tesseract_examples/src/puzzle_piece_auxillary_axes_example.cpp
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Expand Up @@ -199,7 +199,7 @@ bool PuzzlePieceAuxillaryAxesExample::run()

// Create Task Composer Plugin Factory
const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
std::filesystem::path config_path(share_dir + "/config/task_composer_plugins.yaml");
TaskComposerPluginFactory factory(config_path, *env_->getResourceLocator());

// Create Program
Expand Down
6 changes: 3 additions & 3 deletions tesseract_examples/src/puzzle_piece_auxillary_axes_example_node.cpp
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Expand Up @@ -25,7 +25,7 @@
*/

#include <tesseract_examples/puzzle_piece_auxillary_axes_example.h>
#include <tesseract_common/filesystem.h>
#include <filesystem>
#include <tesseract_environment/environment.h>
#include <tesseract_common/resource_locator.h>

Expand All @@ -36,9 +36,9 @@ using namespace tesseract_environment;
int main(int /*argc*/, char** /*argv*/)
{
auto locator = std::make_shared<GeneralResourceLocator>();
tesseract_common::fs::path urdf_path =
std::filesystem::path urdf_path =
locator->locateResource("package://tesseract_support/urdf/puzzle_piece_workcell.urdf")->getFilePath();
tesseract_common::fs::path srdf_path =
std::filesystem::path srdf_path =
locator->locateResource("package://tesseract_support/urdf/puzzle_piece_workcell.srdf")->getFilePath();
auto env = std::make_shared<Environment>();
if (!env->init(urdf_path, srdf_path, locator))
Expand Down
2 changes: 1 addition & 1 deletion tesseract_examples/src/puzzle_piece_example.cpp
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Expand Up @@ -193,7 +193,7 @@ bool PuzzlePieceExample::run()

// Create Task Composer Plugin Factory
const std::string share_dir(TESSERACT_TASK_COMPOSER_DIR);
tesseract_common::fs::path config_path(share_dir + "/config/task_composer_plugins.yaml");
std::filesystem::path config_path(share_dir + "/config/task_composer_plugins.yaml");
TaskComposerPluginFactory factory(config_path, *env_->getResourceLocator());

// Create Program
Expand Down
6 changes: 3 additions & 3 deletions tesseract_examples/src/puzzle_piece_example_node.cpp
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Expand Up @@ -25,7 +25,7 @@
*/

#include <tesseract_examples/puzzle_piece_example.h>
#include <tesseract_common/filesystem.h>
#include <filesystem>
#include <tesseract_environment/environment.h>
#include <tesseract_common/resource_locator.h>

Expand All @@ -36,9 +36,9 @@ using namespace tesseract_environment;
int main(int /*argc*/, char** /*argv*/)
{
auto locator = std::make_shared<GeneralResourceLocator>();
tesseract_common::fs::path urdf_path =
std::filesystem::path urdf_path =
locator->locateResource("package://tesseract_support/urdf/puzzle_piece_workcell.urdf")->getFilePath();
tesseract_common::fs::path srdf_path =
std::filesystem::path srdf_path =
locator->locateResource("package://tesseract_support/urdf/puzzle_piece_workcell.srdf")->getFilePath();
auto env = std::make_shared<Environment>();
if (!env->init(urdf_path, srdf_path, locator))
Expand Down
6 changes: 3 additions & 3 deletions tesseract_examples/src/scene_graph_example_node.cpp
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Expand Up @@ -25,7 +25,7 @@
*/

#include <tesseract_examples/scene_graph_example.h>
#include <tesseract_common/filesystem.h>
#include <filesystem>
#include <tesseract_environment/environment.h>
#include <tesseract_common/resource_locator.h>

Expand All @@ -36,9 +36,9 @@ using namespace tesseract_environment;
int main(int /*argc*/, char** /*argv*/)
{
auto locator = std::make_shared<GeneralResourceLocator>();
tesseract_common::fs::path urdf_path =
std::filesystem::path urdf_path =
locator->locateResource("package://tesseract_support/urdf/scene_graph_example.urdf")->getFilePath();
tesseract_common::fs::path srdf_path =
std::filesystem::path srdf_path =
locator->locateResource("package://tesseract_support/urdf/scene_graph_example.srdf")->getFilePath();
auto env = std::make_shared<Environment>();
if (!env->init(urdf_path, srdf_path, locator))
Expand Down
10 changes: 5 additions & 5 deletions tesseract_examples/test/basic_cartesian_example_unit.cpp
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Expand Up @@ -4,7 +4,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
TESSERACT_COMMON_IGNORE_WARNINGS_POP

#include <tesseract_examples/basic_cartesian_example.h>
#include <tesseract_common/filesystem.h>
#include <filesystem>
#include <tesseract_environment/environment.h>
#include <tesseract_common/resource_locator.h>

Expand All @@ -15,9 +15,9 @@ using namespace tesseract_environment;
TEST(TesseractExamples, BasicCartesianTrajOptExampleUnit) // NOLINT
{
auto locator = std::make_shared<GeneralResourceLocator>();
tesseract_common::fs::path urdf_path =
std::filesystem::path urdf_path =
locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.urdf")->getFilePath();
tesseract_common::fs::path srdf_path =
std::filesystem::path srdf_path =
locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.srdf")->getFilePath();
auto env = std::make_shared<Environment>();
if (!env->init(urdf_path, srdf_path, locator))
Expand All @@ -30,9 +30,9 @@ TEST(TesseractExamples, BasicCartesianTrajOptExampleUnit) // NOLINT
TEST(TesseractExamples, BasicCartesianTrajOptIfoptExampleUnit) // NOLINT
{
auto locator = std::make_shared<GeneralResourceLocator>();
tesseract_common::fs::path urdf_path =
std::filesystem::path urdf_path =
locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.urdf")->getFilePath();
tesseract_common::fs::path srdf_path =
std::filesystem::path srdf_path =
locator->locateResource("package://tesseract_support/urdf/lbr_iiwa_14_r820.srdf")->getFilePath();
auto env = std::make_shared<Environment>();
if (!env->init(urdf_path, srdf_path, locator))
Expand Down
10 changes: 5 additions & 5 deletions tesseract_examples/test/car_seat_example_unit.cpp
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Expand Up @@ -4,7 +4,7 @@ TESSERACT_COMMON_IGNORE_WARNINGS_PUSH
TESSERACT_COMMON_IGNORE_WARNINGS_POP

#include <tesseract_examples/car_seat_example.h>
#include <tesseract_common/filesystem.h>
#include <filesystem>
#include <tesseract_environment/environment.h>
#include <tesseract_common/resource_locator.h>

Expand All @@ -15,9 +15,9 @@ using namespace tesseract_environment;
TEST(TesseractExamples, CarSeatCppTrajOptExampleUnit) // NOLINT
{
auto locator = std::make_shared<GeneralResourceLocator>();
tesseract_common::fs::path urdf_path =
std::filesystem::path urdf_path =
locator->locateResource("package://tesseract_support/urdf/car_seat_demo.urdf")->getFilePath();
tesseract_common::fs::path srdf_path =
std::filesystem::path srdf_path =
locator->locateResource("package://tesseract_support/urdf/car_seat_demo.srdf")->getFilePath();
auto env = std::make_shared<Environment>();
if (!env->init(urdf_path, srdf_path, locator))
Expand All @@ -30,9 +30,9 @@ TEST(TesseractExamples, CarSeatCppTrajOptExampleUnit) // NOLINT
TEST(TesseractExamples, CarSeatCppTrajOptIfoptExampleUnit) // NOLINT
{
auto locator = std::make_shared<GeneralResourceLocator>();
tesseract_common::fs::path urdf_path =
std::filesystem::path urdf_path =
locator->locateResource("package://tesseract_support/urdf/car_seat_demo.urdf")->getFilePath();
tesseract_common::fs::path srdf_path =
std::filesystem::path srdf_path =
locator->locateResource("package://tesseract_support/urdf/car_seat_demo.srdf")->getFilePath();
auto env = std::make_shared<Environment>();
if (!env->init(urdf_path, srdf_path, locator))
Expand Down
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