Merge branch 'main' into dependabot/github_actions/actions/github-scr…

…ipt-7
moveit · Nov 17, 2023 · 9b71337 · 9b71337
2 parents 82a0188 + e064a84
commit 9b71337
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Showing 5 changed files with 301 additions and 226 deletions.
diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
@@ -23,6 +23,7 @@ find_package(octomap_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(random_numbers REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rsl REQUIRED)
 find_package(ruckig REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(shape_msgs REQUIRED)
@@ -150,6 +151,7 @@ ament_export_dependencies(
   pluginlib
   random_numbers
   rclcpp
+  rsl
   ruckig
   sensor_msgs
   shape_msgs

diff --git a/moveit_core/package.xml b/moveit_core/package.xml
@@ -47,6 +47,7 @@
   <depend>pybind11_vendor</depend>
   <depend>random_numbers</depend>
   <depend>rclcpp</depend>
+  <depend>rsl</depend>
   <depend>ruckig</depend>
   <depend>sensor_msgs</depend>
   <depend>shape_msgs</depend>

diff --git a/moveit_core/robot_state/CMakeLists.txt b/moveit_core/robot_state/CMakeLists.txt
@@ -50,15 +50,6 @@ if(BUILD_TESTING)
     moveit_robot_state
   )
 
-  # As an executable, this benchmark is not run as a test by default
-  ament_add_gtest(test_robot_state_benchmark test/robot_state_benchmark.cpp)
-  target_link_libraries(test_robot_state_benchmark
-    moveit_test_utils
-    moveit_utils
-    moveit_exceptions
-    moveit_robot_state
-  )
-
   ament_add_gtest(test_robot_state_complex test/test_kinematic_complex.cpp)
   target_link_libraries(test_robot_state_complex
     moveit_test_utils
@@ -83,12 +74,12 @@ if(BUILD_TESTING)
   )
 
   ament_add_google_benchmark(
-    robot_state_jacobian_benchmark
-    test/robot_state_jacobian_benchmark.cpp)
-  ament_target_dependencies(robot_state_jacobian_benchmark
+    robot_state_benchmark
+    test/robot_state_benchmark.cpp)
+  ament_target_dependencies(robot_state_benchmark
     kdl_parser
   )
-  target_link_libraries(robot_state_jacobian_benchmark
+  target_link_libraries(robot_state_benchmark
     moveit_robot_model
     moveit_test_utils
     moveit_robot_state