Update ompl_interface with latest version of OMPL #2994

MarqRazz · 2024-09-09T16:46:18Z

Description

I'm working on debugging some issues and require building MoveIt2 and OMPL from source. This PR updates the package moveit_planners_ompl to work with the latest changes made in OMPL and it's more modern approach to exporting/linking the library but will require building it from source until a new release is made (I am working on getting it released and will keep this PR updated with the status).

I was also having issues with OMPL but that package was recently updated to properly work with Colcon. Here is a link to the issue.

Big thanks to @JafarAbdi and @mamoll for helping me debug some of these issues and getting this updated! 🥇

Checklist

Required by CI: Code is auto formatted using clang-format
Extend the tutorials / documentation reference
Document API changes relevant to the user in the MIGRATION.md notes
Create tests, which fail without this PR reference
Include a screenshot if changing a GUI
While waiting for someone to review your request, please help review another open pull request to support the maintainers

Ryanf55

LGTM.

moveit_planners/ompl/ompl_interface/CMakeLists.txt

JafarAbdi · 2024-09-09T19:34:10Z

Would be good to see if lines https://github.com/moveit/moveit2/pull/2994/files#diff-18741df7cbb95f9292a57457e88318346213653f65f3932a5a03a1eaf7b2655bR27-R30 are still needed

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moveit_planners/ompl/ompl_interface/CMakeLists.txt

moveit2.repos

MarqRazz · 2024-09-10T13:01:48Z

Would be good to see if lines https://github.com/moveit/moveit2/pull/2994/files#diff-18741df7cbb95f9292a57457e88318346213653f65f3932a5a03a1eaf7b2655bR27-R30 are still needed

According to OMPL's build documentation OMPL_LIBRARY_DIRS does not exist any more and the environment variables are not recommended any more so I removed it. If someone with a Mac could test this PR out that would be great!

Ryanf55 · 2024-09-10T13:15:15Z

Would be good to see if lines https://github.com/moveit/moveit2/pull/2994/files#diff-18741df7cbb95f9292a57457e88318346213653f65f3932a5a03a1eaf7b2655bR27-R30 are still needed

According to OMPL's build documentation OMPL_LIBRARY_DIRS does not exist any more and the environment variables are not recommended any more so I removed it. If someone with a Mac could test this PR out that would be great!

To support the previous CMake module behavior, the following variables are defined. These are for backwards compatability, but not recommended anymore.

It was my intent to preserve them for backwards compatability, but the reality on ompl main is they only exist for consuming ompl through submodule, not find_package. This was an oversight/mistake on my part, and I only realized it yesterday. OMPL did not change its major version, so there should not be ABI breaks. I have recognized the downstream impact this is having is larger than it should be. If MoveIT has build failures for something that worked previously, I am in the wrong. Please let me know if you have a minimum reproducible example and I will do my best to bring those variables back in find_package.

Ryanf55 · 2024-09-10T17:13:57Z

This PR should get us closer to fixing the accidental breakage of the old variables in find_package. https://github.com/ompl/ompl/pull/1182/files#diff-148715d6ea0c0ea0a346af3f6bd610d010d490eca35ac6a9b408748f7ca9e3f4R10

We need to then add this back into the export, along with the other variables.

mergify · 2024-10-13T19:13:56Z

This pull request is in conflict. Could you fix it @MarqRazz?

moveit2.repos

MarqRazz · 2024-10-14T13:07:17Z

Thanks for keeping this moving @sjahr!

sjahr · 2024-10-14T13:23:26Z

@MarqRazz I'd just merge it now, since there aren't any CI failures related to the PR. Any concerns?

MarqRazz · 2024-10-14T13:33:13Z

~~Nope, I was just waiting for the~~ 👍

Actually we need to release OMPL for this change to work right. I have not tested this against the latest release to ROS2.

@mamoll I would be happy to help get the OMPL release to ROS updated. Is there anything I can help with? @JafarAbdi also said he was will to help maintain the release.

sjahr · 2024-10-14T14:30:47Z

Ok, I'll wait for now 👍 Let me know when it's ready

MarqRazz · 2025-06-11T18:03:25Z

@moveit/maintainers I think this PR is ready to merge. I want to let everyone know that I removed testing main on Humble because OMPL 1.7 has not been released there. This PR is not planned to be back ported to Humble and on the next release cycle I can work on getting 1.7 released to Humble and re-enable humble-ci in a future PR if we feel this test is important/required. If we can get this PR merged I will start the process of releasing MoveIt.

~~FYI the CI failure is not related to these changes and I opened an upstream PR to moveit_resources to fix the issue.~~
edit: fixed ✔️

JafarAbdi

lgtm

nbbrooks · 2025-06-12T16:09:53Z

I got the impression at the community meeting that there are a lot of people using Humble, but unclear how many are using the Humble branch/debians versions main. It would be a good topic for the next meeting if a 1.7 ompl release for humble is non-trivial.

MarqRazz · 2025-06-12T16:12:41Z

I got the impression at the community meeting that there are a lot of people using Humble, but unclear how many are using the Humble branch/debians versions main. It would be a good topic for the next meeting if a 1.7 ompl release for humble is non-trivial.

People can still use Humble with main, they will just have to build OMPL from source until the binary is available there. The Humble MoveIt binary with OMPL 1.6 is still available and will continue to work.

MarqRazz · 2025-06-12T16:23:59Z

I don't have sufficient permissions to merge this PR. Once complete I can start on the next release.

github-actions · 2025-07-28T13:00:20Z

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

MarqRazz · 2025-07-28T14:58:27Z

@nbbrooks any update here? Are we ready to merge this?

nbbrooks · 2025-08-24T17:18:57Z

As discussed, the CI job that tests main against humble is disabled in this PR because

OMPL 1.7 has not been released for Humble yet.
We do not have a mechanism in CI to tell it to use a different .repos file that would build OMPL from source when doing the main-humble job / Have a CMake pattern to selectively run code depending on a library version (such as rclcpp).

The main-Humble CI job can be re-enabled when a humble release including ros/rosdistro#47332 is out!

nbbrooks · 2025-09-03T18:54:52Z

I have some comments in #3529 about why the rolling tests are failing, which is blocking this from getting merged.

.github/workflows/ci.yaml

nbbrooks · 2025-10-16T13:31:35Z

Force merging this since Rolling CI was fixed and this is now passing.

The tutorial failure is unrelated and should be resolved by moveit/moveit2_tutorials#1071

* Update ompl_interface with latest version of OMPL * specify PUBLIC * pre-commit * only link ompl where required * Fix formatting * add ompl 1.7 release to .repos * remove srdfdom from .repos * revert ompl from source * remove humble main testing * No longer need to disable Humble CI job --------- Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai> Co-authored-by: Sebastian Jahr <sebastian.jahr@tuta.io> Co-authored-by: Sebastian Castro <4603398+sea-bass@users.noreply.github.com> Co-authored-by: Nathan Brooks <nathanbrooks@picknik.ai> Co-authored-by: Nathan Brooks <nbbrooks@gmail.com> (cherry picked from commit 1a64bce)

Update ompl_interface with latest version of OMPL

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MarqRazz mentioned this pull request Sep 9, 2024

Can't find OMPL when building MoveIt2 and OMPL from source ompl/ompl#1175

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specify PUBLIC

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only link ompl where required

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MarqRazz mentioned this pull request Sep 11, 2024

Hotfix: Cmake installation with version folder ompl/ompl#1184

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sjahr added 4 commits October 6, 2024 13:29

Merge branch 'main' into update_ompl_version

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Fix formatting

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Merge branch 'main' into update_ompl_version

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Merge branch 'main' into update_ompl_version

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MarqRazz added 2 commits June 3, 2025 16:31

Merge branch 'main' into update_ompl_version

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nbbrooks added 2 commits August 5, 2025 22:06

Merge branch 'main' into update_ompl_version

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Merge branch 'main' into update_ompl_version

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nbbrooks mentioned this pull request Sep 3, 2025

Adjust moveit_servo clock to work with fake_hardware #3529

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No longer need to disable Humble CI job

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nbbrooks merged commit 1a64bce into moveit:main Oct 16, 2025
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mergify bot mentioned this pull request Oct 16, 2025

Update ompl_interface with latest version of OMPL (backport #2994) #3600

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MarqRazz pushed a commit that referenced this pull request Nov 26, 2025

Update ompl_interface with latest version of OMPL (#2994) (#3600)

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Update ompl_interface with latest version of OMPL #2994

Update ompl_interface with latest version of OMPL #2994

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