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ipab-slmc / exotica

Extensible Optimization Framework
https://ipab-slmc.github.io/exotica
BSD 3-Clause "New" or "Revised" License
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[exotica_collision_scene_fcl_latest] Switch to FCL on Noetic, use fcl_catkin on older distros #735

Closed wxmerkt closed 3 years ago

wxmerkt commented 3 years ago

ros-noetic-fcl has now been released into Noetic. This makes FCL 0.6.x available directly via the ROS buildfarm and reduces the need for fcl_catkin. Since we further cannot generate safe search paths (exotica_core depends on moveit which depends on fcl.0.6 and this library depends on fcl_catkin.0.6), replacing the use of fcl_catkin with FCL on Noetic is the appropriate step to take. To keep backwards compatibility with older distros (Melodic), we conditionally switch between fcl_catkin and ros-noetic-fcl in this package.

wxmerkt commented 3 years ago

This PR is blocked until upstream makes a new ros-noetic-fcl release as the current 0.6.1 version has bugs that cause segmentation faults on distance queries (including with our example script). Subsequently we can unrelease fcl_catkin for Noetic and switch to the upstream FCL version.