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Remove octomap dependency#269

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nbbrooks merged 1 commit into
moveit:ros2from
urfeex:fix_octomap_dep
May 11, 2026
Merged

Remove octomap dependency#269
nbbrooks merged 1 commit into
moveit:ros2from
urfeex:fix_octomap_dep

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@urfeex

@urfeex urfeex commented May 4, 2026

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The versioned dependency doesn't work out on the latest ubuntu release. However, since compatibility to libfcl-dev is mentioned in the comment: Octomap should be linked in as a transitive depencency from fcl.

In fact, octomap isn't linked to the target, anyway, but fcl is. Looking at the built library it seems that it seems to be correctly linked against liboctomap:

$ ldd libgeometric_shapes.so
        linux-vdso.so.1 (0x0000735e9514b000)
        libassimp.so.6 => /usr/lib/x86_64-linux-gnu/libassimp.so.6 (0x0000735e9497c000)
        libfcl.so.0.7 => /usr/lib/x86_64-linux-gnu/libfcl.so.0.7 (0x0000735e943f0000)
        libqhull_r.so.8.0 => /usr/lib/x86_64-linux-gnu/libqhull_r.so.8.0 (0x0000735e9437d000)
        libconsole_bridge.so.1.0 => /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.1.0 (0x0000735e94377000)
        libresource_retriever.so => /opt/ros/rolling/lib/libresource_retriever.so (0x0000735e9436a000)
        libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x0000735e940c8000)
        libm.so.6 => /usr/lib/x86_64-linux-gnu/libm.so.6 (0x0000735e93fa2000)
        libgcc_s.so.1 => /usr/lib/x86_64-linux-gnu/libgcc_s.so.1 (0x0000735e93f74000)
        libc.so.6 => /usr/lib/x86_64-linux-gnu/libc.so.6 (0x0000735e93d53000)
        libz.so.1 => /usr/lib/x86_64-linux-gnu/libz.so.1 (0x0000735e93d35000)
        libdraco.so.9 => /usr/lib/x86_64-linux-gnu/libdraco.so.9 (0x0000735e93a60000)
        libminizip.so.1 => /usr/lib/x86_64-linux-gnu/libminizip.so.1 (0x0000735e93a50000)
        libpugixml.so.1 => /usr/lib/x86_64-linux-gnu/libpugixml.so.1 (0x0000735e93a11000)
        libccd.so.2 => /usr/lib/x86_64-linux-gnu/libccd.so.2 (0x0000735e93a05000)
        liboctomap.so.1.10 => /usr/lib/x86_64-linux-gnu/liboctomap.so.1.10 (0x0000735e939c2000)
        liboctomath.so.1.10 => /usr/lib/x86_64-linux-gnu/liboctomath.so.1.10 (0x0000735e939ba000)
        libament_index_cpp.so => /opt/ros/rolling/lib/libament_index_cpp.so (0x0000735e939a7000)
        libcurl.so.4 => /usr/lib/x86_64-linux-gnu/libcurl.so.4 (0x0000735e938b4000)
        /lib64/ld-linux-x86-64.so.2 (0x0000735e9514d000)
        libnghttp2.so.14 => /usr/lib/x86_64-linux-gnu/libnghttp2.so.14 (0x0000735e9388a000)
        libidn2.so.0 => /usr/lib/x86_64-linux-gnu/libidn2.so.0 (0x0000735e93868000)
        librtmp.so.1 => /usr/lib/x86_64-linux-gnu/librtmp.so.1 (0x0000735e93848000)
        libldap.so.2 => /usr/lib/x86_64-linux-gnu/libldap.so.2 (0x0000735e937e3000)
        liblber.so.2 => /usr/lib/x86_64-linux-gnu/liblber.so.2 (0x0000735e937d2000)
        libssh2.so.1 => /usr/lib/x86_64-linux-gnu/libssh2.so.1 (0x0000735e93786000)
        libpsl.so.5 => /usr/lib/x86_64-linux-gnu/libpsl.so.5 (0x0000735e93771000)
        libssl.so.3 => /usr/lib/x86_64-linux-gnu/libssl.so.3 (0x0000735e93663000)
        libcrypto.so.3 => /usr/lib/x86_64-linux-gnu/libcrypto.so.3 (0x0000735e9304a000)
        libgssapi_krb5.so.2 => /usr/lib/x86_64-linux-gnu/libgssapi_krb5.so.2 (0x0000735e92ff0000)
        libzstd.so.1 => /usr/lib/x86_64-linux-gnu/libzstd.so.1 (0x0000735e92f2d000)
        libbrotlidec.so.1 => /usr/lib/x86_64-linux-gnu/libbrotlidec.so.1 (0x0000735e92f1e000)
        libunistring.so.5 => /usr/lib/x86_64-linux-gnu/libunistring.so.5 (0x0000735e92d37000)
        libgnutls.so.30 => /usr/lib/x86_64-linux-gnu/libgnutls.so.30 (0x0000735e92b27000)
        libhogweed.so.6 => /usr/lib/x86_64-linux-gnu/libhogweed.so.6 (0x0000735e92ada000)
        libnettle.so.8 => /usr/lib/x86_64-linux-gnu/libnettle.so.8 (0x0000735e92a83000)
        libgmp.so.10 => /usr/lib/x86_64-linux-gnu/libgmp.so.10 (0x0000735e929fd000)
        libsasl2.so.2 => /usr/lib/x86_64-linux-gnu/libsasl2.so.2 (0x0000735e929e2000)
        libkrb5.so.3 => /usr/lib/x86_64-linux-gnu/libkrb5.so.3 (0x0000735e92916000)
        libk5crypto.so.3 => /usr/lib/x86_64-linux-gnu/libk5crypto.so.3 (0x0000735e928e8000)
        libcom_err.so.2 => /usr/lib/x86_64-linux-gnu/libcom_err.so.2 (0x0000735e928e2000)
        libkrb5support.so.0 => /usr/lib/x86_64-linux-gnu/libkrb5support.so.0 (0x0000735e928d5000)
        libbrotlicommon.so.1 => /usr/lib/x86_64-linux-gnu/libbrotlicommon.so.1 (0x0000735e928b2000)
        libp11-kit.so.0 => /usr/lib/x86_64-linux-gnu/libp11-kit.so.0 (0x0000735e926d7000)
        libtasn1.so.6 => /usr/lib/x86_64-linux-gnu/libtasn1.so.6 (0x0000735e926be000)
        libkeyutils.so.1 => /usr/lib/x86_64-linux-gnu/libkeyutils.so.1 (0x0000735e926b7000)
        libresolv.so.2 => /usr/lib/x86_64-linux-gnu/libresolv.so.2 (0x0000735e926a4000)
        libffi.so.8 => /usr/lib/x86_64-linux-gnu/libffi.so.8 (0x0000735e92693000)

Since it's used a private link target (only used from within a CPP file and fcl being linked privately) it should be save to remove the dependency altogether, at least from my understanding.

Tested to build locally in a resolute-rolling docker container.

This is from my point of view one way to address #268

@urfeex
Remove octomap dependency
f40b5c4 
The versioned dependency doesn't work out on the latest ubuntu release.
However, since compatibility to libfcl-dev is mentioned in the comment:
Octomap should be linked in as a transitive depencency from fcl. In
fact, octomap isn't linked to the target, anyway, but fcl is. Looking at
the built library it seems that it seems to be correctly linked against
liboctomap.
Since it's used a private link target (only used from within a CPP file
and fcl being linked privately) it should be save to remove the
dependency altogether, at least from my understanding.
rhaschke
rhaschke approved these changes May 4, 2026
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Sounds reasonable.

@codecov

codecov Bot commented May 11, 2026

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Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 69.04%. Comparing base (cd7a5b7) to head (f40b5c4).

Additional details and impacted files 
@@           Coverage Diff           @@
##             ros2     #269   +/-   ##
=======================================
  Coverage   69.04%   69.04%           
=======================================
  Files          21       21           
  Lines        3368     3368           
  Branches      325      325           
=======================================
  Hits         2325     2325           
  Misses        932      932           
  Partials      111      111

☔ View full report in Codecov by Sentry.
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@nbbrooks

nbbrooks commented May 11, 2026

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@urfeex thank you - do you have thoughts on #267 ? Will the compilation error still exist (But just on a different path)?

@nbbrooks nbbrooks merged commit 4faa690 into moveit:ros2 May 11, 2026
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@urfeex

urfeex commented May 11, 2026

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I would expect that as long as fcl is built correctly against octomap, it will expose the correct library. Thus, it might help with that issue, as well.

@nbbrooks nbbrooks mentioned this pull request May 11, 2026
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@urfeex urfeex deleted the fix_octomap_dep branch May 12, 2026 06:20
@christian-rauch

christian-rauch commented Jun 8, 2026

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@tylerjw @rhaschke Since this is blocking MoveIt on lyrical (https://build.ros2.org/view/Lbin_uR64/job/Lbin_uR64__geometric_shapes__ubuntu_resolute_amd64__binary/49/console) can you please release a new version with this fix?

@rhaschke

rhaschke commented Jun 8, 2026

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I'm not part of the MoveIt2 maintainer team. Nevertheless, I triggered a new release: ros/rosdistro#51930

Please, @moveit/maintainers take care of the MoveIt2 release process in a more pro-active fashion in the future.

@christian-rauch

christian-rauch commented Jun 9, 2026

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@rhaschke Thanks. Could you do this also for the other distributions?

@rhaschke

rhaschke commented Jun 9, 2026

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@rhaschke Thanks. Could you do this also for the other distributions?

Which distributions exactly?

@christian-rauch

christian-rauch commented Jun 9, 2026

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@rhaschke Thanks. Could you do this also for the other distributions?

Which distributions exactly?

Well, at least for lyrical. But if it is supported on jazzy and humble, I would propose to update it there too.

@rhaschke

rhaschke commented Jun 9, 2026

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Done:
ros/rosdistro#51948
ros/rosdistro#51949
ros/rosdistro#51950

@urfeex urfeex mentioned this pull request Jun 15, 2026
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@urfeex @nbbrooks @christian-rauch @rhaschke