Fix rosinstall so focal has its own so newer versions leverage system…

… depends

.github/workflows/code_quality.yml

@@ -51,7 +51,7 @@ jobs:
         uses: tesseract-robotics/colcon-action@v1
         with:
           ccache-prefix: ${{ matrix.distro }}
-          vcs-file: dependencies.repos
+          vcs-file: dependencies_focal.repos
           run-tests: false
           upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
           target-path: target_ws/src

.github/workflows/package_debian.yml

@@ -26,16 +26,18 @@ jobs:
         with:
           path: target_ws/src
 
-      - name: Install dependencies
-        run: |
-          apt update -q
-          apt install -q -y liboctomap-dev
+      - name: Install Depends
+              shell: bash
+              run: |
+                apt update
+                apt upgrade -y
+                apt install -y liboctomap-dev
 
       - name: Build and test
         uses: tesseract-robotics/colcon-action@v9
         with:
           ccache-enabled: false
-          vcs-file: dependencies.repos
+          vcs-file: ${{ matrix.distro == 'focal' && 'dependencies_focal.repos' || 'dependencies.repos' }}
           upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
           target-path: target_ws/src
           target-args: --cmake-args -DCMAKE_BUILD_TYPE=Release -DTESSERACT_PACKAGE=ON

.github/workflows/ubuntu.yml

@@ -47,7 +47,7 @@ jobs:
         uses: tesseract-robotics/colcon-action@v8
         with:
           ccache-prefix: ${{ matrix.distro }}
-          vcs-file: dependencies.repos
+          vcs-file: ${{ matrix.distro == 'focal' && 'dependencies_focal.repos' || 'dependencies.repos' }}
           upstream-args: --cmake-args -DCMAKE_BUILD_TYPE=Release
           target-path: target_ws/src
           target-args: --cmake-args -DCMAKE_BUILD_TYPE=Debug -DTESSERACT_ENABLE_TESTING=ON -DTESSERACT_PACKAGE=ON

dependencies.repos

@@ -6,10 +6,6 @@
     local-name: opw_kinematics
     uri: https://github.com/Jmeyer1292/opw_kinematics.git
     version: 0.5.2
-- git:
-    local-name: fcl
-    uri: https://github.com/flexible-collision-library/fcl.git
-    version: 0.6.1
 - git:
     local-name: octomap
     uri: https://github.com/OctoMap/octomap.git

dependencies_focal.repos

@@ -0,0 +1,16 @@
+- git:
+    local-name: ros_industrial_cmake_boilerplate
+    uri: https://github.com/ros-industrial/ros_industrial_cmake_boilerplate.git
+    version: 0.7.1
+- git:
+    local-name: opw_kinematics
+    uri: https://github.com/Jmeyer1292/opw_kinematics.git
+    version: 0.5.2
+- git:
+    local-name: fcl
+    uri: https://github.com/flexible-collision-library/fcl.git
+    version: 0.6.1
+- git:
+    local-name: octomap
+    uri: https://github.com/OctoMap/octomap.git
+    version: v1.9.8

tesseract_collision/fcl/CMakeLists.txt

@@ -75,8 +75,6 @@ if(TESSERACT_PACKAGE)
     VERSION ${pkg_extracted_version}
     DESCRIPTION "Tesseract Collision FCL components"
     COMPONENT_DEPENDS core
-    LINUX_DEPENDS "libfcl-dev (>= 0.6.0) | ${TESSERACT_PACKAGE_PREFIX}fcl"
-                  "fcl (>= 0.6.0) | ${TESSERACT_PACKAGE_PREFIX}fcl"
-    WINDOWS_DEPENDS "libfcl-dev (>= 0.6.0) | ${TESSERACT_PACKAGE_PREFIX}fcl"
-                    "fcl (>= 0.6.0) | ${TESSERACT_PACKAGE_PREFIX}fcl")
+    LINUX_DEPENDS "libfcl-dev (>= 0.6.0) | fcl (>= 0.6.0) | ${TESSERACT_PACKAGE_PREFIX}fcl"
+    WINDOWS_DEPENDS "libfcl-dev (>= 0.6.0) | fcl (>= 0.6.0) | ${TESSERACT_PACKAGE_PREFIX}fcl")
 endif()

tesseract_geometry/package.xml

@@ -17,7 +17,7 @@
   <build_depend>eigen</build_depend>
   <build_export_depend>eigen</build_export_depend>
   <depend>libconsole-bridge-dev</depend>
-  <depend>octomap</depend>
+  <depend>liboctomap-dev</depend>
 
   <test_depend>gtest</test_depend>
   <test_depend>tesseract_support</test_depend>