Mandatory yaml dependency
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This commit is contained in:
Robert Haschke 2025-10-09 14:47:27 +02:00
parent 1655762a63
commit 377d09046f
3 changed files with 5 additions and 24 deletions

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@ -2,16 +2,13 @@ set(MOVEIT_LIB_NAME motion_planning_tasks_properties)
set(SOURCES set(SOURCES
property_factory.cpp property_factory.cpp
property_from_yaml.cpp
) )
find_package(PkgConfig REQUIRED) find_package(PkgConfig REQUIRED)
pkg_check_modules(YAML yaml-0.1) pkg_check_modules(YAML REQUIRED yaml-0.1)
if (YAML_FOUND) # Only cmake > 3.12 provides XXX_LINK_LIBRARIES. Find the absolute path manually
# Only cmake > 3.12 provides XXX_LINK_LIBRARIES. Find the absolute path manually find_library(YAML_LIBRARIES ${YAML_LIBRARIES} PATHS ${YAML_LIBRARY_DIRS})
find_library(YAML_LIBRARIES ${YAML_LIBRARIES} PATHS ${YAML_LIBRARY_DIRS})
list(APPEND SOURCES property_from_yaml.cpp)
add_definitions(-DHAVE_YAML)
endif()
add_library(${MOVEIT_LIB_NAME} SHARED ${SOURCES}) add_library(${MOVEIT_LIB_NAME} SHARED ${SOURCES})

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@ -147,21 +147,4 @@ void PropertyFactory::addRemainingProperties(rviz::Property* root, mtc::Property
new rviz::Property("no properties", QVariant(), QString(), root); new rviz::Property("no properties", QVariant(), QString(), root);
} }
#ifndef HAVE_YAML
rviz::Property* PropertyFactory::createDefault(const std::string& name, const std::string& /*type*/,
const std::string& description, const std::string& value,
rviz::Property* old) {
if (old) { // reuse existing Property?
assert(old->getNameStd() == name);
old->setDescription(QString::fromStdString(description));
old->setValue(QString::fromStdString(value));
return old;
} else { // create new Property?
rviz::Property* result = new rviz::StringProperty(QString::fromStdString(name), QString::fromStdString(value),
QString::fromStdString(description));
result->setReadOnly(true);
return result;
}
}
#endif
} // namespace moveit_rviz_plugin } // namespace moveit_rviz_plugin

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@ -18,6 +18,7 @@
<depend>moveit_ros_visualization</depend> <depend>moveit_ros_visualization</depend>
<depend>roscpp</depend> <depend>roscpp</depend>
<depend>rviz</depend> <depend>rviz</depend>
<depend>yaml</depend>
<test_depend>rosunit</test_depend> <test_depend>rosunit</test_depend>
<test_depend>rostest</test_depend> <test_depend>rostest</test_depend>