moveit_ompl_interface include dirs broken when using ament

[werner291]

When compiling a project that uses these lines in CMakeLists:

set(AMENT_DEPS "moveit_core" "moveit_msgs" "shape_msgs" "rclcpp" "ompl" "moveit_planners_ompl")

ament_target_dependencies(${PROJECT_NAME}_shared ${AMENT_DEPS})

I get the following error:

CMake Error in CMakeLists.txt:
  Imported target "moveit_planners_ompl::moveit_ompl_interface" includes
  non-existent path

    "/nix/store/mg432iy0715cc7fylwg10bsdhsg4qy30-ros-rolling-moveit-planners-ompl-2.8.0-r2/include/moveit_planners_ompl"

I'm using the dev shell and suggested patch from #311

I can confirm that that directory doesn't exist, but the required headers are there:

ls /nix/store/mg432iy0715cc7fylwg10bsdhsg4qy30-ros-rolling-moveit-planners-ompl-2.8.0-r2/include/moveit_planners/moveit/ompl_interface/
detail  model_based_planning_context.h  ompl_interface.h  parameterization  planning_context_manager.h

I remember having issues with this even outside of NixOS (macOS at the time), but since they're showing up here we might as well.

Flake.nix:

{
  description = "My ROS Project Build Environment";
  nixConfig.bash-prompt = "[ros] ";
  inputs = {
    nixpkgs.url = "github:nixos/nixpkgs/nixos-23.05";
    nix-ros-overlay.url = "github:lopsided98/nix-ros-overlay";
  };

  outputs = { self, nixpkgs, nix-ros-overlay }:
    let
      system = "x86_64-linux";
      pkgs = import nixpkgs { inherit system; overlays = [ nix-ros-overlay.overlays.default (import ./replace-ompl.nix) ]; };
    in
    {
      devShells.x86_64-linux.default = pkgs.mkShell {
        name = "My ROS Project Build Environment";
        buildInputs = with pkgs; with pkgs.rosPackages.rolling; [
          moveit-core
          moveit-planners-ompl
          pythonPackages.matplotlib
                pythonPackages.notebook
                pythonPackages.numpy
                pythonPackages.pandas
                cmake
                jsoncpp
                range-v3
                cgal
        ];
      };
    };
}

replace-ompl.nix:

# See: https://github.com/lopsided98/nix-ros-overlay/issues/311

self: super:

let
  myOmpl = super.rosPackages.rolling.ompl.overrideAttrs ({ patches ? [ ], ... }: {
    version="Fix patch";
    patches = patches ++ [
      # Use full install paths for pkg-config
      (self.fetchpatch {
        url = "https://github.com/hacker1024/ompl/commit/1ddecbad87b454ac0d8e1821030e4cf7eeff2db2.patch";
        hash = "sha256-sAQLrWHoR/DhHk8TtUEy8E8VXqrvtXl2BGS5UvElJl8=";
      })
    ];
  });
in
{
  rosPackages = super.rosPackages // {
    rolling = super.rosPackages.rolling // {
      ompl = myOmpl;
      moveit-planners-ompl = super.rosPackages.rolling.moveit-planners-ompl.override {
        ompl = myOmpl;
      };
    };
  };
}