From b65c2d1a859d12f36e59458aa45d77d9e687d7e6 Mon Sep 17 00:00:00 2001 From: Nathan Brooks Date: Sun, 14 Jun 2026 16:53:25 -0600 Subject: [PATCH] resolute: drop octomap version range moveit2 already treats octomap like any other system dependency since PR #2881 (which switched moveit_core / moveit_ros/occupancy_map_monitor from octomap to liboctomap-dev). The 1.9.7...<1.10.0 range in CMakeLists.txt was the leftover artifact of moveit/moveit2#2862's defensive workaround for an ABI skew that moveit2's own deps no longer create. The range also blocks moveit_core from configuring on Ubuntu Resolute, which ships liboctomap-dev 1.10. Drop the range entirely. find_package(octomap REQUIRED) matches the convention used by fcl, Eigen3, pluginlib, and the rest of moveit_core. Refs: moveit/moveit2#2862, moveit/moveit2#2881. --- moveit_core/CMakeLists.txt | 4 +--- moveit_ros/occupancy_map_monitor/CMakeLists.txt | 4 +--- 2 files changed, 2 insertions(+), 6 deletions(-) diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt index ca30488f79..9fddd6cd67 100644 --- a/moveit_core/CMakeLists.txt +++ b/moveit_core/CMakeLists.txt @@ -18,9 +18,7 @@ find_package(geometric_shapes REQUIRED) find_package(geometry_msgs REQUIRED) find_package(kdl_parser REQUIRED) find_package(moveit_msgs REQUIRED) -# Enforce system version liboctomap-dev -# https://github.com/moveit/moveit2/issues/2862 -find_package(octomap 1.9.7...<1.10.0 REQUIRED) +find_package(octomap REQUIRED) find_package(octomap_msgs REQUIRED) find_package(osqp REQUIRED) find_package(pluginlib REQUIRED) diff --git a/moveit_ros/occupancy_map_monitor/CMakeLists.txt b/moveit_ros/occupancy_map_monitor/CMakeLists.txt index b8dd549bcb..f10094d162 100644 --- a/moveit_ros/occupancy_map_monitor/CMakeLists.txt +++ b/moveit_ros/occupancy_map_monitor/CMakeLists.txt @@ -13,9 +13,7 @@ find_package(moveit_core REQUIRED) find_package(moveit_msgs REQUIRED) find_package(pluginlib REQUIRED) find_package(Eigen3 REQUIRED) -# Enforce system version liboctomap-dev -# https://github.com/moveit/moveit2/issues/2862 -find_package(octomap 1.9.7...<1.10.0 REQUIRED) +find_package(octomap REQUIRED) find_package(geometric_shapes REQUIRED) find_package(tf2_ros REQUIRED)