update patch

Signed-off-by: wep21 <daisuke.nishimatsu1021@gmail.com>

Author: wep21

patch/ros-rolling-moveit-planners-ompl.patch

@@ -2,6 +2,14 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
 index 91329a1e8..5b4c45bc3 100644
 --- a/CMakeLists.txt
 +++ b/CMakeLists.txt
+@@ -8,7 +8,6 @@ moveit_package()
+ find_package(
+   Boost
+   REQUIRED
+-  system
+   filesystem
+   date_time
+   thread
 @@ -31,8 +31,14 @@ include_directories(SYSTEM ${Boost_INCLUDE_DIRS} ${OMPL_INCLUDE_DIRS})
 
  add_subdirectory(ompl_interface)

patch/ros-rolling-moveit-ros-visualization.patch

@@ -288,3 +288,155 @@ diff --git a/ConfigExtras.cmake b/ConfigExtras.cmake
 
 -find_package(Boost REQUIRED thread date_time system filesystem)
 +find_package(Boost REQUIRED thread date_time filesystem)
+diff --git a/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/interactive_marker_display.hpp b/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/interactive_marker_display.hpp
+index 598b5825c..0423cc1bc 100644
+--- a/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/interactive_marker_display.hpp
++++ b/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/interactive_marker_display.hpp
+@@ -82,7 +82,7 @@ public:
+   }
+ 
+   // Overrides from Display
+-  void update(float wall_dt, float ros_dt) override;
++  void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) override;
+ 
+   void reset() override;
+ 
+diff --git a/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.hpp b/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.hpp
+index 4f5a2b924..6b804fade 100644
+--- a/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.hpp
++++ b/motion_planning_rviz_plugin/include/moveit/motion_planning_rviz_plugin/motion_planning_display.hpp
+@@ -106,7 +106,7 @@ public:
+   void load(const rviz_common::Config& config) override;
+   void save(rviz_common::Config config) const override;
+ 
+-  void update(float wall_dt, float ros_dt) override;
++  void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) override;
+   void reset() override;
+ 
+   moveit::core::RobotStateConstPtr getQueryStartState() const
+diff --git a/motion_planning_rviz_plugin/src/interactive_marker_display.cpp b/motion_planning_rviz_plugin/src/interactive_marker_display.cpp
+index 5234407dd..fca81e84e 100644
+--- a/motion_planning_rviz_plugin/src/interactive_marker_display.cpp
++++ b/motion_planning_rviz_plugin/src/interactive_marker_display.cpp
+@@ -182,7 +182,7 @@ void InteractiveMarkerDisplay::unsubscribe()
+   Display::reset();
+ }
+ 
+-void InteractiveMarkerDisplay::update(float wall_dt, float ros_dt)
++void InteractiveMarkerDisplay::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt)
+ {
+   (void)wall_dt;
+   (void)ros_dt;
+diff --git a/motion_planning_rviz_plugin/src/motion_planning_display.cpp b/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+index e279a23e5..348f6c3ef 100644
+--- a/motion_planning_rviz_plugin/src/motion_planning_display.cpp
++++ b/motion_planning_rviz_plugin/src/motion_planning_display.cpp
+@@ -1337,12 +1337,13 @@ void MotionPlanningDisplay::onDisable()
+ // ******************************************************************************************
+ // Update
+ // ******************************************************************************************
+-void MotionPlanningDisplay::update(float wall_dt, float ros_dt)
++void MotionPlanningDisplay::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt)
+ {
+   if (int_marker_display_)
+     int_marker_display_->update(wall_dt, ros_dt);
+   if (frame_)
+-    frame_->updateSceneMarkers(wall_dt, ros_dt);
++    frame_->updateSceneMarkers(std::chrono::duration<double>(wall_dt).count(),
++                               std::chrono::duration<double>(ros_dt).count());
+ 
+   PlanningSceneDisplay::update(wall_dt, ros_dt);
+ }
+diff --git a/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.hpp b/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.hpp
+index 1c0aa57c7..72c84b5aa 100644
+--- a/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.hpp
++++ b/planning_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.hpp
+@@ -79,7 +79,7 @@ public:
+   void load(const rviz_common::Config& config) override;
+   void save(rviz_common::Config config) const override;
+ 
+-  void update(float wall_dt, float ros_dt) override;
++  void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) override;
+   void reset() override;
+ 
+   void setLinkColor(const std::string& link_name, const QColor& color);
+diff --git a/planning_scene_rviz_plugin/src/planning_scene_display.cpp b/planning_scene_rviz_plugin/src/planning_scene_display.cpp
+index 4bce580a2..ec3ef4886 100644
+--- a/planning_scene_rviz_plugin/src/planning_scene_display.cpp
++++ b/planning_scene_rviz_plugin/src/planning_scene_display.cpp
+@@ -661,7 +661,7 @@ void PlanningSceneDisplay::queueRenderSceneGeometry()
+   planning_scene_needs_render_ = true;
+ }
+ 
+-void PlanningSceneDisplay::update(float wall_dt, float ros_dt)
++void PlanningSceneDisplay::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt)
+ {
+   Display::update(wall_dt, ros_dt);
+ 
+@@ -670,7 +670,8 @@ void PlanningSceneDisplay::update(float wall_dt, float ros_dt)
+   calculateOffsetPosition();
+ 
+   if (planning_scene_monitor_)
+-    updateInternal(wall_dt, ros_dt);
++    updateInternal(std::chrono::duration<double>(wall_dt).count(),
++                   std::chrono::duration<double>(ros_dt).count());
+ }
+ 
+ void PlanningSceneDisplay::updateInternal(double wall_dt, double /*ros_dt*/)
+diff --git a/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.hpp b/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.hpp
+index 19e4c4892..c90d235fd 100644
+--- a/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.hpp
++++ b/robot_state_rviz_plugin/include/moveit/robot_state_rviz_plugin/robot_state_display.hpp
+@@ -71,7 +71,7 @@ public:
+   ~RobotStateDisplay() override;
+ 
+   void load(const rviz_common::Config& config) override;
+-  void update(float wall_dt, float ros_dt) override;
++  void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) override;
+   void reset() override;
+ 
+   const moveit::core::RobotModelConstPtr& getRobotModel() const
+diff --git a/robot_state_rviz_plugin/src/robot_state_display.cpp b/robot_state_rviz_plugin/src/robot_state_display.cpp
+index 960215e33..ec786a98d 100644
+--- a/robot_state_rviz_plugin/src/robot_state_display.cpp
++++ b/robot_state_rviz_plugin/src/robot_state_display.cpp
+@@ -459,7 +459,7 @@ void RobotStateDisplay::onDisable()
+   Display::onDisable();
+ }
+ 
+-void RobotStateDisplay::update(float wall_dt, float ros_dt)
++void RobotStateDisplay::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt)
+ {
+   Display::update(wall_dt, ros_dt);
+   calculateOffsetPosition();
+diff --git a/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.hpp b/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.hpp
+index 3949bbb08..abc8bbc14 100644
+--- a/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.hpp
++++ b/trajectory_rviz_plugin/include/moveit/trajectory_rviz_plugin/trajectory_display.hpp
+@@ -68,7 +68,7 @@ public:
+   void loadRobotModel();
+ 
+   void load(const rviz_common::Config& config) override;
+-  void update(float wall_dt, float ros_dt) override;
++  void update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt) override;
+   void reset() override;
+ 
+   // overrides from Display
+diff --git a/trajectory_rviz_plugin/src/trajectory_display.cpp b/trajectory_rviz_plugin/src/trajectory_display.cpp
+index 78a13c718..c863a4a75 100644
+--- a/trajectory_rviz_plugin/src/trajectory_display.cpp
++++ b/trajectory_rviz_plugin/src/trajectory_display.cpp
+@@ -129,10 +129,11 @@ void TrajectoryDisplay::onDisable()
+   trajectory_visual_->onDisable();
+ }
+ 
+-void TrajectoryDisplay::update(float wall_dt, float ros_dt)
++void TrajectoryDisplay::update(std::chrono::nanoseconds wall_dt, std::chrono::nanoseconds ros_dt)
+ {
+   Display::update(wall_dt, ros_dt);
+-  trajectory_visual_->update(wall_dt, ros_dt);
++  trajectory_visual_->update(std::chrono::duration<double>(wall_dt).count(),
++                             std::chrono::duration<double>(ros_dt).count());
+ }
+ 
+ void TrajectoryDisplay::changedRobotDescription()