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tesseract-robotics / trajopt

Trajectory Optimization Motion Planner for ROS
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catkin dependency for ROS1 only #304

Closed rjoomen closed 1 year ago

rjoomen commented 1 year ago

Fixes #303

marip8 commented 1 year ago

I think all the <exec_depend>catkin</exec_depend> can be completely removed. All of these packages are independent of ROS and catkin, and I don't see any macros or commands in the CMakeLists files that come from catkin. I think these are just remnants of the original development that was done in ROS1

gavanderhoorn commented 1 year ago

REP 136 actually recommends adding that exec_depend. I don't remember exactly why, but I believe it has something to do with environment setup files otherwise not getting generated, which would make include, linker and cfg paths not get setup.

marip8 commented 1 year ago

I see. Disregard my previous comment then

gavanderhoorn commented 1 year ago

Just repeating what the REP suggests. If we don't need that the exec_depend could be removed.

Levi-Armstrong commented 1 year ago

Just repeating what the REP suggests. If we don't need that the exec_depend could be removed.

I tried to find more information on exactly why this was needed, but could not find much. I removed these from Tesseract repository a while back and does not appear to have any issues. There is a current issue where if you have tesseract in your workspace and installed it will not use the ones in your workspace for some of the packages. I thought this was due to some things we had to change to make the windows build work but those have been removed. Maybe this has something to do with it.