Merge branch 'devel' for v1.9.7 release

ahornung · ahornung · commit aa6372b87eaf · 2021-05-03T22:36:04.000+02:00
diff --git a/.github/workflows/industrial_ci_action.yml b/.github/workflows/industrial_ci_action.yml
@@ -13,13 +13,11 @@ jobs:
         env:
           - {ROS_DISTRO: melodic}
           - {ROS_DISTRO: noetic}
-          - {ROS_DISTRO: foxy}
-          - {ROS_DISTRO: rolling}
+          - {ROS_DISTRO: foxy, PRERELEASE: true}
+          - {ROS_DISTRO: rolling, PRERELEASE: true}
     env:
       CCACHE_DIR: /github/home/.ccache # Enable ccache
-      PRERELEASE: true # always run the prerelease tests
       BUILDER: colcon
-      # CMAKE_ARGS: '-DCMAKE_BUILD_TYPE=Debug'
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v2
diff --git a/dynamicEDT3D/CMakeLists.txt b/dynamicEDT3D/CMakeLists.txt
@@ -7,7 +7,7 @@ include(GNUInstallDirs)
 # version (e.g. for packaging)
 set(DYNAMICEDT3D_MAJOR_VERSION 1)
 set(DYNAMICEDT3D_MINOR_VERSION 9)
-set(DYNAMICEDT3D_PATCH_VERSION 6)
+set(DYNAMICEDT3D_PATCH_VERSION 7)
 set(DYNAMICEDT3D_VERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION}.${DYNAMICEDT3D_PATCH_VERSION})
 set(DYNAMICEDT3D_SOVERSION ${DYNAMICEDT3D_MAJOR_VERSION}.${DYNAMICEDT3D_MINOR_VERSION})
 
@@ -69,6 +69,10 @@ install(FILES ${dynamicEDT3D_HDRS} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/dyna
 # Install catkin package.xml, attention package.xml names the catkin package "dynamic_edt_3d", so this is also the location where it needs to be installed to (and not "dynamicEDT3D")
 install(FILES package.xml DESTINATION "${CMAKE_INSTALL_DATADIR}/dynamic_edt_3d")
 
+# Allows Colcon to find non-Ament packages when using workspace underlays
+file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} "")
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} DESTINATION share/ament_index/resource_index/packages)
+
 #TODO: this conflicts with the octomap uninstall
 #it is not only a target name problem, also both will use the same manifest file
 #in the same binary directory
diff --git a/dynamicEDT3D/package.xml b/dynamicEDT3D/package.xml
@@ -1,19 +1,23 @@
-<package format="2">
+<package format="3">
   <name>dynamic_edt_3d</name>
-  <version>1.9.6</version>
+  <version>1.9.7</version>
   <description> The dynamicEDT3D library implements an inrementally updatable Euclidean distance transform (EDT) in 3D. It comes with a wrapper to use the OctoMap 3D representation and hooks into the change detection of the OctoMap library to propagate changes to the EDT.</description>
 
   <author email="sprunkc@informatik.uni-freiburg.de">Christoph Sprunk</author>
   <maintainer email="sprunkc@informatik.uni-freiburg.de">Christoph Sprunk</maintainer>
-  <maintainer email="w.merkt+oss@gmail.com">Wolfgang Merkt</maintainer>
+  <maintainer email="opensource@wolfgangmerkt.com">Wolfgang Merkt</maintainer>
   <license>BSD</license>
 
   <url type="website">http://octomap.github.io</url>
   <url type="bugtracker">https://github.com/OctoMap/octomap/issues</url>
 
   <depend>octomap</depend>
-  <buildtool_depend>cmake</buildtool_depend>
 
+  <!-- The following tags are recommended by REP-136 -->
+  <exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">ament_cmake</exec_depend>
+
+  <buildtool_depend>cmake</buildtool_depend>
   <export>
     <build_type>cmake</build_type>
   </export>
diff --git a/octomap/CHANGELOG.txt b/octomap/CHANGELOG.txt
@@ -1,3 +1,8 @@
+v1.9.7: 2021-05-03
+==================
+- Use explicit casting to prevent implicit sign conversion
+- REP-136 compliance and compatibility with ROS1 & ROS2 using single branch
+
 v1.9.6: 2021-01-23
 ==================
 - Fixed ifstream >> byte with c++17
diff --git a/octomap/CMakeLists.txt b/octomap/CMakeLists.txt
@@ -7,7 +7,7 @@ include(GNUInstallDirs)
 # version (e.g. for packaging)
 set(OCTOMAP_MAJOR_VERSION 1)
 set(OCTOMAP_MINOR_VERSION 9)
-set(OCTOMAP_PATCH_VERSION 6)
+set(OCTOMAP_PATCH_VERSION 7)
 set(OCTOMAP_VERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION}.${OCTOMAP_PATCH_VERSION})
 set(OCTOMAP_SOVERSION ${OCTOMAP_MAJOR_VERSION}.${OCTOMAP_MINOR_VERSION})
 if(COMMAND cmake_policy)
@@ -69,9 +69,13 @@ install(FILES ${octomap_HDRS} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/octomap")
 file(GLOB octomap_math_HDRS ${PROJECT_SOURCE_DIR}/include/octomap/math/*.h)
 install(FILES ${octomap_math_HDRS} DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/octomap/math")
 
-# Install catkin package.xml
+# Install package.xml (catkin/ament/rosdep)
 install(FILES package.xml DESTINATION "${CMAKE_INSTALL_DATADIR}/octomap")
 
+# Allows Colcon to find non-Ament packages when using workspace underlays
+file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} "")
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} DESTINATION share/ament_index/resource_index/packages)
+
 # uninstall target
 configure_file(
     "${PROJECT_SOURCE_DIR}/CMakeModules/CMakeUninstall.cmake.in"
diff --git a/octomap/include/octomap/OcTreeBaseImpl.hxx b/octomap/include/octomap/OcTreeBaseImpl.hxx
@@ -1057,7 +1057,7 @@ namespace octomap {
     float step_size = this->resolution * pow(2, tree_depth-depth);
     for (int i=0;i<3;++i) {
       diff[i] = pmax_clamped(i) - pmin_clamped(i);
-      steps[i] = floor(diff[i] / step_size);
+      steps[i] = static_cast<unsigned int>(floor(diff[i] / step_size));
       //      std::cout << "bbx " << i << " size: " << diff[i] << " " << steps[i] << " steps\n";
     }
 
diff --git a/octomap/include/octomap/OccupancyOcTreeBase.hxx b/octomap/include/octomap/OccupancyOcTreeBase.hxx
@@ -784,7 +784,7 @@ namespace octomap {
     // Line dot normal will be zero if they are parallel, in which case no intersection can be the entry one
     // if there is an intersection does it occur in the bounded plane of the voxel
     // if yes keep only the closest (smallest distance to sensor origin).
-    if((lineDotNormal = normalX.dot(direction))){   // Ensure lineDotNormal is non-zero (assign and test)
+    if((lineDotNormal = normalX.dot(direction)) != 0.0){   // Ensure lineDotNormal is non-zero (assign and test)
       d = (pointXNeg - origin).dot(normalX) / lineDotNormal;
       intersect = direction * float(d) + origin;
       if(!(intersect(1) < (pointYNeg(1) - 1e-6) || intersect(1) > (pointYPos(1) + 1e-6) ||
@@ -802,7 +802,7 @@ namespace octomap {
       }
     }
 
-    if((lineDotNormal = normalY.dot(direction))){   // Ensure lineDotNormal is non-zero (assign and test)
+    if((lineDotNormal = normalY.dot(direction)) != 0.0){   // Ensure lineDotNormal is non-zero (assign and test)
       d = (pointYNeg - origin).dot(normalY) / lineDotNormal;
       intersect = direction * float(d) + origin;
       if(!(intersect(0) < (pointXNeg(0) - 1e-6) || intersect(0) > (pointXPos(0) + 1e-6) ||
@@ -820,7 +820,7 @@ namespace octomap {
       }
     }
 
-    if((lineDotNormal = normalZ.dot(direction))){   // Ensure lineDotNormal is non-zero (assign and test)
+    if((lineDotNormal = normalZ.dot(direction)) != 0.0){   // Ensure lineDotNormal is non-zero (assign and test)
       d = (pointZNeg - origin).dot(normalZ) / lineDotNormal;
       intersect = direction * float(d) + origin;
       if(!(intersect(0) < (pointXNeg(0) - 1e-6) || intersect(0) > (pointXPos(0) + 1e-6) ||
@@ -839,7 +839,7 @@ namespace octomap {
     }
 
     // Substract (add) a fraction to ensure no ambiguity on the starting voxel
-    // Don't start on a bondary.
+    // Don't start on a boundary.
     if(found)
       intersection = direction * float(outD + delta) + origin;
 
diff --git a/octomap/package.xml b/octomap/package.xml
@@ -1,20 +1,23 @@
-<package format="2">
+<package format="3">
   <name>octomap</name>
-  <version>1.9.6</version>
+  <version>1.9.7</version>
   <description>The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree. See
   http://octomap.github.io for details.</description>
 
   <author email="wurm@informatik.uni-freiburg.de">Kai M. Wurm</author>
   <author email="armin@hornung.io">Armin Hornung</author>
   <maintainer email="armin@hornung.io">Armin Hornung</maintainer>
-  <maintainer email="w.merkt+oss@gmail.com">Wolfgang Merkt</maintainer>
+  <maintainer email="opensource@wolfgangmerkt.com">Wolfgang Merkt</maintainer>
   <license>BSD</license>
 
   <url type="website">http://octomap.github.io</url>
   <url type="bugtracker">https://github.com/OctoMap/octomap/issues</url>
 
-  <buildtool_depend>cmake</buildtool_depend>
+  <!-- The following tags are recommended by REP-136 -->
+  <exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">ament_cmake</exec_depend>
 
+  <buildtool_depend>cmake</buildtool_depend>
   <export>
     <build_type>cmake</build_type>
   </export>
diff --git a/octovis/CMakeLists.txt b/octovis/CMakeLists.txt
@@ -7,7 +7,7 @@ include(GNUInstallDirs)
 # # version (e.g. for packaging)
 set(OCTOVIS_MAJOR_VERSION 1)
 set(OCTOVIS_MINOR_VERSION 9)
-set(OCTOVIS_PATCH_VERSION 6)
+set(OCTOVIS_PATCH_VERSION 7)
 set(OCTOVIS_VERSION ${OCTOVIS_MAJOR_VERSION}.${OCTOVIS_MINOR_VERSION}.${OCTOVIS_PATCH_VERSION})
 set(OCTOVIS_SOVERSION ${OCTOVIS_MAJOR_VERSION}.${OCTOVIS_MINOR_VERSION})
 # get rid of a useless warning:
@@ -158,6 +158,10 @@ IF(BUILD_VIEWER)
 
   # Install catkin package.xml
   install(FILES package.xml DESTINATION "${CMAKE_INSTALL_DATADIR}/octovis")
+
+  # Allows Colcon to find non-Ament packages when using workspace underlays
+  file(WRITE ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} "")
+  install(FILES ${CMAKE_CURRENT_BINARY_DIR}/share/ament_index/resource_index/packages/${PROJECT_NAME} DESTINATION share/ament_index/resource_index/packages)
   
 ELSE()
     MESSAGE ( "Unfortunately, the viewer (octovis) can not be built because some requirements are missing.")
diff --git a/octovis/package.xml b/octovis/package.xml
@@ -1,20 +1,23 @@
-<package format="2">
+<package format="3">
   <name>octovis</name>
-  <version>1.9.6</version>
+  <version>1.9.7</version>
   <description>octovis is visualization tool for the OctoMap library based on Qt and libQGLViewer. See
   http://octomap.github.io for details.</description>
 
   <author email="wurm@informatik.uni-freiburg.de">Kai M. Wurm</author>
   <author email="armin@hornung.io">Armin Hornung</author>
   <maintainer email="armin@hornung.io">Armin Hornung</maintainer>
-  <maintainer email="w.merkt+oss@gmail.com">Wolfgang Merkt</maintainer>
+  <maintainer email="opensource@wolfgangmerkt.com">Wolfgang Merkt</maintainer>
   <license>GPLv2</license>
 
   <url type="website">http://octomap.github.io</url>
   <url type="bugtracker">https://github.com/OctoMap/octomap/issues</url>
 
+  <!-- The following tags are recommended by REP-136 -->
+  <exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">ament_cmake</exec_depend>
+
   <buildtool_depend>cmake</buildtool_depend>
-  
   <export>
     <build_type>cmake</build_type>
   </export>

Original file line number	Diff line number	Diff line change
`@@ -1057,7 +1057,7 @@ namespace octomap {`
`1057`	`1057`	`float step_size = this->resolution * pow(2, tree_depth-depth);`
`1058`	`1058`	`for (int i=0;i<3;++i) {`
`1059`	`1059`	`diff[i] = pmax_clamped(i) - pmin_clamped(i);`
`1060`		`- steps[i] = floor(diff[i] / step_size);`
	`1060`	`+ steps[i] = static_cast<unsigned int>(floor(diff[i] / step_size));`
`1061`	`1061`	`// std::cout << "bbx " << i << " size: " << diff[i] << " " << steps[i] << " steps\n";`
`1062`	`1062`	`}`
`1063`	`1063`
Original file line number	Diff line number	Diff line change
`@@ -784,7 +784,7 @@ namespace octomap {`
`784`	`784`	`// Line dot normal will be zero if they are parallel, in which case no intersection can be the entry one`
`785`	`785`	`// if there is an intersection does it occur in the bounded plane of the voxel`
`786`	`786`	`// if yes keep only the closest (smallest distance to sensor origin).`
`787`		`- if((lineDotNormal = normalX.dot(direction))){ // Ensure lineDotNormal is non-zero (assign and test)`
	`787`	`+ if((lineDotNormal = normalX.dot(direction)) != 0.0){ // Ensure lineDotNormal is non-zero (assign and test)`
`788`	`788`	`d = (pointXNeg - origin).dot(normalX) / lineDotNormal;`
`789`	`789`	`intersect = direction * float(d) + origin;`
`790`	`790`	`if(!(intersect(1) < (pointYNeg(1) - 1e-6) \|\| intersect(1) > (pointYPos(1) + 1e-6) \|\|`
`@@ -802,7 +802,7 @@ namespace octomap {`
`802`	`802`	`}`
`803`	`803`	`}`
`804`	`804`
`805`		`- if((lineDotNormal = normalY.dot(direction))){ // Ensure lineDotNormal is non-zero (assign and test)`
	`805`	`+ if((lineDotNormal = normalY.dot(direction)) != 0.0){ // Ensure lineDotNormal is non-zero (assign and test)`
`806`	`806`	`d = (pointYNeg - origin).dot(normalY) / lineDotNormal;`
`807`	`807`	`intersect = direction * float(d) + origin;`
`808`	`808`	`if(!(intersect(0) < (pointXNeg(0) - 1e-6) \|\| intersect(0) > (pointXPos(0) + 1e-6) \|\|`
`@@ -820,7 +820,7 @@ namespace octomap {`
`820`	`820`	`}`
`821`	`821`	`}`
`822`	`822`
`823`		`- if((lineDotNormal = normalZ.dot(direction))){ // Ensure lineDotNormal is non-zero (assign and test)`
	`823`	`+ if((lineDotNormal = normalZ.dot(direction)) != 0.0){ // Ensure lineDotNormal is non-zero (assign and test)`
`824`	`824`	`d = (pointZNeg - origin).dot(normalZ) / lineDotNormal;`
`825`	`825`	`intersect = direction * float(d) + origin;`
`826`	`826`	`if(!(intersect(0) < (pointXNeg(0) - 1e-6) \|\| intersect(0) > (pointXPos(0) + 1e-6) \|\|`
`@@ -839,7 +839,7 @@ namespace octomap {`
`839`	`839`	`}`
`840`	`840`
`841`	`841`	`// Substract (add) a fraction to ensure no ambiguity on the starting voxel`
`842`		`- // Don't start on a bondary.`
	`842`	`+ // Don't start on a boundary.`
`843`	`843`	`if(found)`
`844`	`844`	`intersection = direction * float(outD + delta) + origin;`
`845`	`845`