From 0a7d651baea387bdbe924df625e230574334154f Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Wed, 17 Jul 2024 09:49:40 -0700 Subject: [PATCH 1/9] bump to 2.5.0 for jazzy release --- openvdb_vendor/package.xml | 2 +- spatio_temporal_voxel_layer/package.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/openvdb_vendor/package.xml b/openvdb_vendor/package.xml index cea4fc8..c1e6708 100644 --- a/openvdb_vendor/package.xml +++ b/openvdb_vendor/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> openvdb_vendor - 2.2.0 + 2.5.0 Wrapper around OpenVDB, if not found on the system, will compile from source diff --git a/spatio_temporal_voxel_layer/package.xml b/spatio_temporal_voxel_layer/package.xml index 08308b0..0c4b303 100644 --- a/spatio_temporal_voxel_layer/package.xml +++ b/spatio_temporal_voxel_layer/package.xml @@ -2,7 +2,7 @@ spatio_temporal_voxel_layer - 2.2.0 + 2.5.0 The spatio-temporal 3D obstacle costmap package Steve Macenski From fe7d91893a79044280a65b19c47e5c7c9decdab4 Mon Sep 17 00:00:00 2001 From: Ramon Wijnands Date: Thu, 22 Aug 2024 19:07:15 +0200 Subject: [PATCH 2/9] Avoid compilation on jazzy or higher (#301) On jazzy the released openvdb version is already 10.0.1, so we don't have to compile the vendor package. Compilation on the build farm was already quite flakey because the package is quite heavy, so I'd be best to avoid this. I don't know if openvdb is also released for ARM or any other ubuntu platforms, but we'll have to see on the buildfarm. --- openvdb_vendor/CMakeLists.txt | 4 ++++ openvdb_vendor/openvdb_vendor-extras.cmake | 1 + openvdb_vendor/package.xml | 3 ++- 3 files changed, 7 insertions(+), 1 deletion(-) diff --git a/openvdb_vendor/CMakeLists.txt b/openvdb_vendor/CMakeLists.txt index c158a4a..cf86b24 100644 --- a/openvdb_vendor/CMakeLists.txt +++ b/openvdb_vendor/CMakeLists.txt @@ -4,7 +4,11 @@ project(openvdb_vendor) find_package(ament_cmake REQUIRED) find_package(ament_cmake_vendor_package REQUIRED) +list(APPEND CMAKE_MODULE_PATH "/usr/lib/x86_64-linux-gnu/cmake/OpenVDB") +find_package(OpenVDB 10 QUIET) + ament_vendor(${PROJECT_NAME} + SATISFIED ${OpenVDB_FOUND} VCS_URL https://github.com/AcademySoftwareFoundation/openvdb.git VCS_VERSION v10.0.1 VCS_TYPE git diff --git a/openvdb_vendor/openvdb_vendor-extras.cmake b/openvdb_vendor/openvdb_vendor-extras.cmake index a32dfc5..87fd2bd 100644 --- a/openvdb_vendor/openvdb_vendor-extras.cmake +++ b/openvdb_vendor/openvdb_vendor-extras.cmake @@ -4,4 +4,5 @@ if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "") endif() message( STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}" ) list(APPEND CMAKE_MODULE_PATH "${openvdb_vendor_DIR}/../../../opt/openvdb_vendor/lib/cmake/OpenVDB") +list(APPEND CMAKE_MODULE_PATH "/usr/lib/x86_64-linux-gnu/cmake/OpenVDB") find_package(OpenVDB REQUIRED) diff --git a/openvdb_vendor/package.xml b/openvdb_vendor/package.xml index c1e6708..a73cdde 100644 --- a/openvdb_vendor/package.xml +++ b/openvdb_vendor/package.xml @@ -2,7 +2,7 @@ - + openvdb_vendor 2.5.0 @@ -26,6 +26,7 @@ libblosc-dev libboost-iostreams-dev libboost-thread-dev + libopenvdb-dev tbb zlib From 6c9cd9cd3ce4f1ff4d7e06743ca51ddbcfa0c67d Mon Sep 17 00:00:00 2001 From: stevemacenski Date: Fri, 23 Aug 2024 22:58:46 +0000 Subject: [PATCH 3/9] bumping 2.5.1 for release --- openvdb_vendor/package.xml | 2 +- spatio_temporal_voxel_layer/package.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/openvdb_vendor/package.xml b/openvdb_vendor/package.xml index a73cdde..cff55f8 100644 --- a/openvdb_vendor/package.xml +++ b/openvdb_vendor/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> openvdb_vendor - 2.5.0 + 2.5.1 Wrapper around OpenVDB, if not found on the system, will compile from source diff --git a/spatio_temporal_voxel_layer/package.xml b/spatio_temporal_voxel_layer/package.xml index 0c4b303..03cf194 100644 --- a/spatio_temporal_voxel_layer/package.xml +++ b/spatio_temporal_voxel_layer/package.xml @@ -2,7 +2,7 @@ spatio_temporal_voxel_layer - 2.5.0 + 2.5.1 The spatio-temporal 3D obstacle costmap package Steve Macenski From 18e16e01c728278c859380313f38856c9852d576 Mon Sep 17 00:00:00 2001 From: Ramon Wijnands Date: Fri, 30 Aug 2024 19:58:39 +0200 Subject: [PATCH 4/9] Fix arm64 build (#303) The cmake module was located in another folder. --- openvdb_vendor/CMakeLists.txt | 1 + 1 file changed, 1 insertion(+) diff --git a/openvdb_vendor/CMakeLists.txt b/openvdb_vendor/CMakeLists.txt index cf86b24..bc12374 100644 --- a/openvdb_vendor/CMakeLists.txt +++ b/openvdb_vendor/CMakeLists.txt @@ -5,6 +5,7 @@ find_package(ament_cmake REQUIRED) find_package(ament_cmake_vendor_package REQUIRED) list(APPEND CMAKE_MODULE_PATH "/usr/lib/x86_64-linux-gnu/cmake/OpenVDB") +list(APPEND CMAKE_MODULE_PATH "/usr/lib/aarch64-linux-gnu/cmake/OpenVDB") find_package(OpenVDB 10 QUIET) ament_vendor(${PROJECT_NAME} From 3a969a8f2b9cfc1bd12efb73d4e8bc0ff8bf99e6 Mon Sep 17 00:00:00 2001 From: stevemacenski Date: Fri, 30 Aug 2024 18:04:34 +0000 Subject: [PATCH 5/9] bump to 2.5.2 for release --- openvdb_vendor/package.xml | 2 +- spatio_temporal_voxel_layer/package.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/openvdb_vendor/package.xml b/openvdb_vendor/package.xml index cff55f8..c739b41 100644 --- a/openvdb_vendor/package.xml +++ b/openvdb_vendor/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> openvdb_vendor - 2.5.1 + 2.5.2 Wrapper around OpenVDB, if not found on the system, will compile from source diff --git a/spatio_temporal_voxel_layer/package.xml b/spatio_temporal_voxel_layer/package.xml index 03cf194..8801e7c 100644 --- a/spatio_temporal_voxel_layer/package.xml +++ b/spatio_temporal_voxel_layer/package.xml @@ -2,7 +2,7 @@ spatio_temporal_voxel_layer - 2.5.1 + 2.5.2 The spatio-temporal 3D obstacle costmap package Steve Macenski From 14ddb6729cd38be9248353d346ebce380fc501d7 Mon Sep 17 00:00:00 2001 From: Anthony Goeckner Date: Tue, 5 Nov 2024 14:50:48 -0600 Subject: [PATCH 6/9] Add arm64 version of OpenVDB to CMake module path. (#306) --- openvdb_vendor/openvdb_vendor-extras.cmake | 1 + 1 file changed, 1 insertion(+) diff --git a/openvdb_vendor/openvdb_vendor-extras.cmake b/openvdb_vendor/openvdb_vendor-extras.cmake index 87fd2bd..6816794 100644 --- a/openvdb_vendor/openvdb_vendor-extras.cmake +++ b/openvdb_vendor/openvdb_vendor-extras.cmake @@ -5,4 +5,5 @@ endif() message( STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}" ) list(APPEND CMAKE_MODULE_PATH "${openvdb_vendor_DIR}/../../../opt/openvdb_vendor/lib/cmake/OpenVDB") list(APPEND CMAKE_MODULE_PATH "/usr/lib/x86_64-linux-gnu/cmake/OpenVDB") +list(APPEND CMAKE_MODULE_PATH "/usr/lib/aarch64-linux-gnu/cmake/OpenVDB") find_package(OpenVDB REQUIRED) From eec577192bb8036d3fde3144cbb2c6c9a0348896 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Wed, 6 Nov 2024 10:15:45 -0800 Subject: [PATCH 7/9] bump to 2.5.3 for jazzy sync Signed-off-by: Steve Macenski --- openvdb_vendor/package.xml | 2 +- spatio_temporal_voxel_layer/package.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/openvdb_vendor/package.xml b/openvdb_vendor/package.xml index c739b41..a195acd 100644 --- a/openvdb_vendor/package.xml +++ b/openvdb_vendor/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> openvdb_vendor - 2.5.2 + 2.5.3 Wrapper around OpenVDB, if not found on the system, will compile from source diff --git a/spatio_temporal_voxel_layer/package.xml b/spatio_temporal_voxel_layer/package.xml index 8801e7c..1107bda 100644 --- a/spatio_temporal_voxel_layer/package.xml +++ b/spatio_temporal_voxel_layer/package.xml @@ -2,7 +2,7 @@ spatio_temporal_voxel_layer - 2.5.2 + 2.5.3 The spatio-temporal 3D obstacle costmap package Steve Macenski From 32f8a22e3361182e8ddbc0ad43c7b94efc8566a5 Mon Sep 17 00:00:00 2001 From: sjusner Date: Wed, 4 Dec 2024 22:59:12 +0100 Subject: [PATCH 8/9] Update in observation time comparison (#308) * last_updated_ is now not updated on reset(), and observation staleness is now determined by comparison to clock_->now() instead of the last observation. * Readded the observation buffer update on reset. * Used correct whitespace again --- spatio_temporal_voxel_layer/src/measurement_buffer.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/spatio_temporal_voxel_layer/src/measurement_buffer.cpp b/spatio_temporal_voxel_layer/src/measurement_buffer.cpp index 2e1fcdd..10c160b 100644 --- a/spatio_temporal_voxel_layer/src/measurement_buffer.cpp +++ b/spatio_temporal_voxel_layer/src/measurement_buffer.cpp @@ -218,7 +218,7 @@ void MeasurementBuffer::RemoveStaleObservations(void) } for (it = _observation_list.begin(); it != _observation_list.end(); ++it) { - const rclcpp::Duration time_diff = _last_updated - it->_cloud->header.stamp; + const rclcpp::Duration time_diff = clock_->now() - it->_cloud->header.stamp; if (time_diff > _observation_keep_time) { _observation_list.erase(it, _observation_list.end()); From cc40b386fc821f72300ee17c472f50a764d217c8 Mon Sep 17 00:00:00 2001 From: Steve Macenski Date: Fri, 13 Dec 2024 13:22:32 -0800 Subject: [PATCH 9/9] bumping jazzy to 2.5.4 for sync Signed-off-by: Steve Macenski --- openvdb_vendor/package.xml | 2 +- spatio_temporal_voxel_layer/package.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/openvdb_vendor/package.xml b/openvdb_vendor/package.xml index a195acd..52d72bc 100644 --- a/openvdb_vendor/package.xml +++ b/openvdb_vendor/package.xml @@ -4,7 +4,7 @@ schematypens="http://www.w3.org/2001/XMLSchema"?> openvdb_vendor - 2.5.3 + 2.5.4 Wrapper around OpenVDB, if not found on the system, will compile from source diff --git a/spatio_temporal_voxel_layer/package.xml b/spatio_temporal_voxel_layer/package.xml index 1107bda..86cd43e 100644 --- a/spatio_temporal_voxel_layer/package.xml +++ b/spatio_temporal_voxel_layer/package.xml @@ -2,7 +2,7 @@ spatio_temporal_voxel_layer - 2.5.3 + 2.5.4 The spatio-temporal 3D obstacle costmap package Steve Macenski