hpp-fcl to coal migration

[v4hn]

hpp-fcl just finished its rebranding to coal with version 3.0.

Are there plans when and where to migrate to the new name/version?

[jorisv]

Hello,

Coal have a compatibility layer with hpp-fcl. So you should be able to build Pinocchio with Coal without any modification (only building Coal with -DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON).

We are creating the coal package on conda-forge right now and we will soon provide a pinocchio conda-forge package built with coal.

I don't know when we will stop using the hpp-fcl compatibility layer in pinocchio.

[jcarpent]

@v4hn We will soon update the CMake files of Pinocchio to link directly to coal. I appreciate your understanding.

[AndreasKuhner]

Hi @jcarpent , when do you think you adapt the header files to include the coal parts instead of fcl?

Or does DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON already handle warning you receive?

Our problem: We use pinocchio for its collision in the ROS 2 environment and it might be that it treats warnings as errors... 😓

Cheers, Andreas

[jcarpent]

@jorisv Could you answer @AndreasKuhner questions?

[jorisv]

Hello @AndreasKuhner,

when do you think you adapt the header files to include the coal parts instead of fcl?

I can't answer this question. We will switch to coal when some big changed will be merged into pinocchio. I don't know when these change will be ready.

Our problem: We use pinocchio for its collision in the ROS 2 environment and it might be that it treats warnings as errors... 😓

The hpp-fcl/coal compatibility layer use #pragma message. This is not a warning and -Werror doesn't convert it into an error (I tested that on g++11).

Can you provide some logs ?

[AndreasKuhner]

Sure, if you run something which is using Pinocchio via cmake -DSTRICT=ON .., you will get something like

/opt/openrobots/include/hpp/fcl/coal.hpp:13:2: error: #warning "Please update your includes from 'hpp/fcl' to 'coal'" [-Werror=cpp]
   13 | #warning "Please update your includes from 'hpp/fcl' to 'coal'"
      |  ^~~~~~~

aka 'warning' as 'error'

[fabinsch]

Hi @AndreasKuhner,

an update of your coal installation should solve the problem. If you check the source code here, there is no more #warning. This had been changed 3 months ago. Before, there was the code that produces your issue. Hope this helps

[nim65s]

My bad, I need to update robotpkg. I'll do thit asap

[AndreasKuhner]

Thank you guys. This will resolve our issues for now and will be gone eventually after your next bigger release 🥳