Closed wxmerkt closed 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.
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.