drop vendored pybind11 and use the stock one

Author: iamnambiar

patch/ros-lyrical-moveit-task-constructor-core.patch

@@ -237,38 +237,20 @@ index 1c0553c..39bfa92 100644
  		++called;
  		return true;
 diff --git a/python/bindings/CMakeLists.txt b/python/bindings/CMakeLists.txt
+index 26c86ac..22bf5e1 100644
 --- a/python/bindings/CMakeLists.txt
 +++ b/python/bindings/CMakeLists.txt
-@@ -2,8 +2,15 @@
- add_library(${PROJECT_NAME}_python_tools SHARED
- 	${INCLUDES}/properties.h
- 	src/properties.cpp
+@@ -17,6 +17,10 @@ pybind11_add_module(pymoveit_mtc
  )
-+# Force our vendored (smart_holder) pybind11 to be found before any pybind11
-+# pulled in transitively via py_binding_tools, which links against the plain
-+# upstream pybind11 package. Mixing the two copies in one translation unit
-+# causes duplicate-definition errors, since smart_holder.h only exists in
-+# the vendored fork.
-+target_include_directories(${PROJECT_NAME}_python_tools BEFORE PUBLIC
-+	${CMAKE_CURRENT_SOURCE_DIR}/../pybind11/include)
- target_link_libraries(${PROJECT_NAME}_python_tools PUBLIC ${PROJECT_NAME}
- 	pybind11::pybind11 py_binding_tools::py_binding_tools)
- # Use minimum-size optimization for pybind11 bindings
- target_link_libraries(${PROJECT_NAME}_python_tools PUBLIC pybind11::opt_size)
-@@ -15,7 +15,13 @@
- 	src/stages.cpp
- 	src/module.cpp
- )
-+target_include_directories(pymoveit_mtc BEFORE PUBLIC
-+	${CMAKE_CURRENT_SOURCE_DIR}/../pybind11/include)
  target_include_directories(pymoveit_mtc PUBLIC $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/include>)
  target_link_libraries(pymoveit_mtc PUBLIC ${PROJECT_NAME} ${PROJECT_NAME}_stages ${PROJECT_NAME}_python_tools)
 +# CMake's C++20 module dependency scanner misparses pybind11::module-typed
 +# locals in headers pulled in transitively (py_binding_tools) as module
 +# control-lines; this target doesn't use C++20 modules, so just disable it.
 +set_target_properties(pymoveit_mtc PROPERTIES CXX_SCAN_FOR_MODULES OFF)
-
+ 
  # install libs
+ install(TARGETS ${PROJECT_NAME}_python_tools
 diff --git a/python/bindings/src/properties.cpp b/python/bindings/src/properties.cpp
 --- a/python/bindings/src/properties.cpp
 +++ b/python/bindings/src/properties.cpp
@@ -293,3 +275,195 @@ diff --git a/python/bindings/src/solvers.cpp b/python/bindings/src/solvers.cpp
  	    .property<moveit_msgs::msg::WorkspaceParameters>(
  	        "workspace_parameters",
  	        ":moveit_msgs:`WorkspaceParameters`: Specifies workspace box to be used for Cartesian sampling")
+diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
+index 181e1a4..fcb7315 100644
+--- a/python/CMakeLists.txt
++++ b/python/CMakeLists.txt
+@@ -1,28 +1,12 @@
+-# We rely on pybind11's smart_holder branch imported pybind11 via git submodule
+-
++# Use the pybind11 provided by the environment (with upstream smart_holder support since 3.0),
++# rather than vendoring our own fork, so we share a single pybind11 with py_binding_tools.
+ find_package(ament_cmake_python REQUIRED)
+ find_package(Python3 COMPONENTS Interpreter Development)
+-# pybind11 must use the ROS python version
+-set(PYBIND11_PYTHON_VERSION ${PYTHON_VERSION})
++find_package(pybind11 REQUIRED)
+ 
+ # Use minimum-size optimization for pybind11 bindings
+ add_compile_options("-Os")
+ 
+-# configure pybind11 install for use by downstream packages in install space
+-set(PYBIND11_INSTALL ON CACHE INTERNAL "Install pybind11")
+-set(CMAKE_INSTALL_INCLUDEDIR include/moveit/python)
+-set(PYBIND11_CMAKECONFIG_INSTALL_DIR share/${PROJECT_NAME}/cmake
+-    CACHE INTERNAL "install path for pybind11 cmake files")
+-
+-# source pybind11 folder, which exposes its targets and installs them
+-if(NOT EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/pybind11/CMakeLists.txt")
+-	message("Missing content of submodule pybind11: Use 'git clone --recurse-submodule' in future.\n"
+-	        "Checking out content automatically")
+-	execute_process(COMMAND git submodule init WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
+-	execute_process(COMMAND git submodule update WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
+-endif()
+-add_subdirectory(pybind11)
+-
+ # C++ wrapper code
+ add_subdirectory(bindings)
+ 
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 1b8d21a..1d9f5d7 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -12,6 +12,8 @@ find_package(moveit_core REQUIRED)
+ find_package(moveit_ros_planning REQUIRED)
+ find_package(moveit_ros_planning_interface REQUIRED)
+ find_package(moveit_task_constructor_msgs REQUIRED)
++find_package(Python3 REQUIRED COMPONENTS Interpreter Development)
++find_package(pybind11 REQUIRED)
+ find_package(py_binding_tools REQUIRED)
+ find_package(rclcpp REQUIRED)
+ find_package(rviz_marker_tools REQUIRED)
+diff --git a/include/moveit/python/task_constructor/properties.h b/include/moveit/python/task_constructor/properties.h
+index 46c0e97..70bf30e 100644
+--- a/include/moveit/python/task_constructor/properties.h
++++ b/include/moveit/python/task_constructor/properties.h
+@@ -1,14 +1,10 @@
+ #pragma once
+ 
+-#include <pybind11/smart_holder.h>
+ #include <py_binding_tools/ros_msg_typecasters.h>
+ #include <moveit/task_constructor/properties.h>
+ #include <boost/any.hpp>
+ #include <typeindex>
+ 
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Property)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::PropertyMap)
+-
+ namespace moveit {
+ namespace python {
+ 
+diff --git a/python/bindings/src/core.h b/python/bindings/src/core.h
+index 7ab1437..b9bdc2c 100644
+--- a/python/bindings/src/core.h
++++ b/python/bindings/src/core.h
+@@ -34,12 +34,12 @@
+ 
+ #pragma once
+ 
++#include <pybind11/pybind11.h>
+ #include <moveit/task_constructor/stage.h>
+ #include <moveit/task_constructor/container.h>
+ #include <moveit/task_constructor/cost_queue.h>
+ #include <moveit/task_constructor/cost_terms.h>
+ #include <moveit/utils/moveit_error_code.hpp>
+-#include <pybind11/smart_holder.h>
+ 
+ /** Trampoline classes to allow inheritance in Python (overriding virtual functions) */
+ 
+@@ -109,36 +109,3 @@ public:
+ }  // namespace task_constructor
+ }  // namespace moveit
+ 
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::solvers::PlannerInterface)
+-
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::SolutionBase)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::SubTrajectory)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(ordered<moveit::task_constructor::SolutionBaseConstPtr>)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::InterfaceState)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::core::MoveItErrorCode)
+-
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::CostTerm)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::TrajectoryCostTerm)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::cost::PathLength)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::cost::DistanceToReference)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::cost::TrajectoryDuration)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::cost::LinkMotion)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::cost::LinkRotation)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::cost::Clearance)
+-
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Stage)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::PropagatingEitherWay)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::PropagatingForward)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::PropagatingBackward)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Generator)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::MonitoringGenerator)
+-
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::ContainerBase)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::SerialContainer)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::ParallelContainerBase)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Alternatives)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Fallbacks)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Merger)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::WrapperBase)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Task)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(moveit::task_constructor::Introspection)
+diff --git a/python/bindings/src/module.cpp b/python/bindings/src/module.cpp
+index a797711..cd66917 100644
+--- a/python/bindings/src/module.cpp
++++ b/python/bindings/src/module.cpp
+@@ -32,7 +32,7 @@
+  *  POSSIBILITY OF SUCH DAMAGE.
+  *********************************************************************/
+ 
+-#include <pybind11/smart_holder.h>
++#include <pybind11/pybind11.h>
+ 
+ namespace moveit {
+ namespace python {
+diff --git a/python/bindings/src/solvers.cpp b/python/bindings/src/solvers.cpp
+index 7c6a12f..eebfa2e 100644
+--- a/python/bindings/src/solvers.cpp
++++ b/python/bindings/src/solvers.cpp
+@@ -46,12 +46,6 @@ using namespace py::literals;
+ using namespace moveit::task_constructor;
+ using namespace moveit::task_constructor::solvers;
+ 
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(PlannerInterface)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(PipelinePlanner)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(JointInterpolationPlanner)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(CartesianPath)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(MultiPlanner)
+-
+ namespace moveit {
+ namespace python {
+ 
+diff --git a/python/bindings/src/stages.cpp b/python/bindings/src/stages.cpp
+index 1dead16..f51308f 100644
+--- a/python/bindings/src/stages.cpp
++++ b/python/bindings/src/stages.cpp
+@@ -48,26 +48,6 @@ using namespace py::literals;
+ using namespace moveit::task_constructor;
+ using namespace moveit::task_constructor::stages;
+ 
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(ModifyPlanningScene)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(CurrentState)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(FixedState)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(ComputeIK)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(MoveTo)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(MoveRelative)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(Connect)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(FixCollisionObjects)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(GenerateGraspPose)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(GeneratePlacePose)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(GenerateRandomPose)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(GeneratePose)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(Pick)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(Place)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(SimpleGraspBase)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(SimpleGrasp)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(SimpleUnGrasp)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(PassThrough)
+-PYBIND11_SMART_HOLDER_TYPE_CASTERS(LimitSolutions)
+-
+ namespace moveit {
+ namespace python {
+ 
+@@ -369,7 +349,6 @@ void export_stages(pybind11::module& m) {
+ 		)")
+ 		.def(py::init<const std::string&>(), "name"_a = std::string("Generate Place Pose"));
+ 
+-
+ 	properties::class_<GenerateGraspPose, MonitoringGenerator>(m, "GenerateGraspPose", R"(
+ 			GenerateGraspPose stage derives from monitoring generator and can
+ 			be used to generate poses for grasping. Set the desired attributes