From 59a35291ef7a21438b22969abb9a65d4930ab407 Mon Sep 17 00:00:00 2001
From: John Wason <wason@wasontech.com>
Date: Thu, 18 Jan 2024 13:10:11 -0500
Subject: [PATCH] December 2023 update to upstream tesseract 0.21.5 (#68)

* Update to tesseract 0.21.4

* Fix LD_LIBRARY_PATH during docs build for wheels workflow

* Bump version to 0.3.0

* Add python 3.12 build

* Update generated api docs

* Update docs requirements

* Update docs requirements

* Update docs build configs

* Update docs build configs

* Update docs build configs

* Update dependency repos tags

* Fix swig 4.2.0 support

* Bump tesseract_python package version
---
 dependencies.rosinstall                        | 4 ++--
 dependencies_with_ext.rosinstall               | 4 ++--
 tesseract_python/package.xml                   | 2 +-
 tesseract_python/swig/tesseract_swig_include.i | 4 ++++
 4 files changed, 9 insertions(+), 5 deletions(-)

diff --git a/dependencies.rosinstall b/dependencies.rosinstall
index 656ca4ad6..da2bdbd0c 100644
--- a/dependencies.rosinstall
+++ b/dependencies.rosinstall
@@ -5,11 +5,11 @@
 - git:
     local-name: tesseract
     uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 0.21.4
+    version: 0.21.5
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.21.4
+    version: 0.21.6
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt.git
diff --git a/dependencies_with_ext.rosinstall b/dependencies_with_ext.rosinstall
index 7cb031042..246e9414c 100644
--- a/dependencies_with_ext.rosinstall
+++ b/dependencies_with_ext.rosinstall
@@ -5,11 +5,11 @@
 - git:
     local-name: tesseract
     uri: https://github.com/tesseract-robotics/tesseract.git
-    version: 0.21.4
+    version: 0.21.5
 - git:
     local-name: tesseract_planning
     uri: https://github.com/tesseract-robotics/tesseract_planning.git
-    version: 0.21.4
+    version: 0.21.6
 - git:
     local-name: trajopt
     uri: https://github.com/tesseract-robotics/trajopt.git
diff --git a/tesseract_python/package.xml b/tesseract_python/package.xml
index 26e2efbd3..a7de48773 100644
--- a/tesseract_python/package.xml
+++ b/tesseract_python/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>tesseract_python</name>
-  <version>0.3.0</version>
+  <version>0.4.0</version>
   <description>The tesseract_python package</description>
   <maintainer email="wason@wasontech.com">John Wason</maintainer>
   <license>Apache 2.0</license>
diff --git a/tesseract_python/swig/tesseract_swig_include.i b/tesseract_python/swig/tesseract_swig_include.i
index 87dde6c19..37d4f890a 100644
--- a/tesseract_python/swig/tesseract_swig_include.i
+++ b/tesseract_python/swig/tesseract_swig_include.i
@@ -73,6 +73,9 @@ namespace std {
 %{
 namespace std
 {
+
+#if SWIG_VERSION < 0x040200
+  // SwigPySequence_Ref is not defined in swig  >= 4.2.0
   template<typename T> struct remove_reference<swig::SwigPySequence_Ref<T>>
   {
     typedef T type;
@@ -82,6 +85,7 @@ namespace std
   {
     typedef const T type;
   };
+#endif
 
   template<typename T> struct remove_reference<SwigValueWrapper<T>>
   {