Arch Linux User Repository

The package has now been updated to OMPL v1.5.0. There are a few important changes in this update, along with some build simplification.

In particular:

• If you want to generate Python bindings, you must manually install pyplusplus with pip3. The AUR py++ package only installs a Python 2.7 package and pulls from an unmaintained fork. I've made a comment asking that this be fixed, but for the time being, you'll need this manual action to get Python bindings.

• Curiously, including -march=native in CXXFLAGS causes test failures by slowing down the PRM and PRMstar planners. Until this is resolved, the PKGBUILD removes -march=native from CXXFLAGS. Please edit this yourself if you'd like to substitute a different value.

• The build was switched to use ninja rather than make to match the configuration used for upstream CI.

• Several new optional dependencies were added, and dependencies/make dependencies/optional dependencies were cleaned up and organized generally.

For ROS melodic we use ros-melodic-ompl again since we compile against boost1.69 nowadays.

As ros-melodic-ompl installs to /opt/ros/melodic this should not conflict with this package. It would be nice if you could remove the conflict and replace entry for ros-melodic-ompl.

The package has now been updated to OMPL v1.5.0. There are a few important changes in this update, along with some build simplification.

In particular:

• If you want to generate Python bindings, you must manually install pyplusplus with pip3. The AUR py++ package only installs a Python 2.7 package and pulls from an unmaintained fork. I've made a comment asking that this be fixed, but for the time being, you'll need this manual action to get Python bindings.

• Curiously, including -march=native in CXXFLAGS causes test failures by slowing down the PRM and PRMstar planners. Until this is resolved, the PKGBUILD removes -march=native from CXXFLAGS. Please edit this yourself if you'd like to substitute a different value.

• The build was switched to use ninja rather than make to match the configuration used for upstream CI.

• Several new optional dependencies were added, and dependencies/make dependencies/optional dependencies were cleaned up and organized generally.

@petronny: Done, thanks!

1. Please change the line

patch -uN demos/PlannerData.cpp ../../boost-fix.patch || return 1

to

patch -uN demos/PlannerData.cpp ../boost-fix.patch || return 1

. Or else it won't build in a clean chroot.

2. Missing eigen in depends.

@bionade24: Not in particular; that value was inherited from the original version of the PKGBUILD and I was, again, waiting for 1.50 to see if it could be updated to Python 3. However, I've just tested building 1.42 with Python 3 and it seems fine, so I've updated the PKGBUILD. Thanks!

@wbthomason: Any reasons for staying on python2? Would be nice if you could change it, too.

@acxz: Sure, I'm ok with that.

Sorry for feeling lazy, but I believe the replaces in the ompl package is enough. Users of ros-melodic-ompl (if there were any, which I doubt since that package itself was broken) will now automatically be on the working version of ompl with your change. If you really feel strong about me not adding the replaces, then I will disown ompl-git once someone makes an orphan request.

@bionade24: Done, as requested.

I'd request that either you or @acxz (as the members of the ros-melodic-arch organization on GitHub) add

conflicts=('ompl')
replaces=('ompl')

to the ros-melodic-ompl PKGBUILD.

@acxz: It would probably make sense to add this to the PKGBUILD for ompl-git too, do you mind?

Please let me know if you run into any other issues! I'm still hopeful that 1.50 will be released "soon"; I'll update this and remove the patch when it is.

@wbthoason: Please patch, this is really annoying for all ROS moveit users. Patch is shown here: https://github.com/ros-melodic-arch/ros-melodic-ompl
Please add this to your PKGBUILD, too:

conflicts=('ros-melodic-ompl')
replaces=('ros-melodic-ompl')