tesseract-robotics · Levi-Armstrong · Jul 23, 2024 · Jul 11, 2024 · Jul 18, 2024 · Jul 23, 2024
diff --git a/.github/workflows/docker.yml b/.github/workflows/docker.yml
@@ -21,7 +21,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        distro: [focal, jammy]
+        distro: [focal, jammy, noble]
     env:
       REGISTRY: ghcr.io
       IMAGE_NAME: ${{ github.repository }}

diff --git a/.github/workflows/ubuntu.yml b/.github/workflows/ubuntu.yml
@@ -17,7 +17,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        distro: [focal, jammy]
+        distro: [focal, jammy, noble]
     container:
       image: ghcr.io/tesseract-robotics/tesseract_planning:${{ matrix.distro }}-0.22
       env:
@@ -35,13 +35,24 @@ jobs:
         run: |
           apt update
           apt upgrade -y
-          apt install -y wget qt-advanced-docking-system
+          apt install -y wget
           cd $GITHUB_WORKSPACE/target_ws/src
           ./.add-gazebo-ppa
+      - name: Install Depends (non-noble)
+        if: ${{ matrix.distro != 'noble' }}
+        shell: bash
+        run: |
           apt install -y libgz-rendering7-dev libgz-common5-dev libgz-math7-dev
+          apt install -y qt-advanced-docking-system
+      - name: Install Depends (noble)
+        if: ${{ matrix.distro  == 'noble' }}
+        shell: bash
+        run: |
+          apt install -y libgz-rendering8-dev libgz-common5-dev libgz-math7-dev
+          apt install -y libqt-advanced-docking-system-dev
 
       - name: Build and Tests
-        uses: tesseract-robotics/colcon-action@v2
+        uses: tesseract-robotics/colcon-action@v8
         with:
           before-script: source /opt/tesseract/install/setup.bash && source /opt/tesseract_planning/install/setup.bash
           ccache-prefix: ${{ matrix.distro }}

diff --git a/.github/workflows/unstable.yml b/.github/workflows/unstable.yml
@@ -17,7 +17,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        distro: [focal, jammy]
+        distro: [focal, jammy, noble]
     container:
       image: ghcr.io/tesseract-robotics/tesseract_planning:${{ matrix.distro }}-master
       env:
@@ -35,13 +35,24 @@ jobs:
         run: |
           apt update
           apt upgrade -y
-          apt install -y wget qt-advanced-docking-system
+          apt install -y wget
           cd $GITHUB_WORKSPACE/target_ws/src
           ./.add-gazebo-ppa
+      - name: Install Depends (non-noble)
+        if: ${{ matrix.distro != 'noble' }}
+        shell: bash
+        run: |
           apt install -y libgz-rendering7-dev libgz-common5-dev libgz-math7-dev
+          apt install -y qt-advanced-docking-system
+      - name: Install Depends (noble)
+        if: ${{ matrix.distro  == 'noble' }}
+        shell: bash
+        run: |
+          apt install -y libgz-rendering8-dev libgz-common5-dev libgz-math7-dev
+          apt install -y libqt-advanced-docking-system-dev
 
       - name: Build and Tests
-        uses: tesseract-robotics/colcon-action@v2
+        uses: tesseract-robotics/colcon-action@v8
         with:
           before-script: source /opt/tesseract/install/setup.bash && source /opt/tesseract_planning/install/setup.bash
           ccache-prefix: ${{ matrix.distro }}

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -7,6 +7,13 @@ project(${pkg_extracted_name} VERSION ${pkg_extracted_version} LANGUAGES C CXX)
 
 list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/")
 
+if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+  # Determine Ubuntu release
+  find_program(LSB_RELEASE_EXEC lsb_release)
+  execute_process(COMMAND ${LSB_RELEASE_EXEC} -cs OUTPUT_VARIABLE LSB_RELEASE_CODE_SHORT
+                  OUTPUT_STRIP_TRAILING_WHITESPACE)
+endif()
+
 if(WIN32)
   set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
 endif()
@@ -50,10 +57,15 @@ set(DEPS
 if(${BUILD_RENDERING})
   message("Building rendering module")
   add_subdirectory(rendering)
+  if((EXISTS LSB_RELEASE_CODE_SHORT) AND (LSB_RELEASE_CODE_SHORT STREQUAL "noble"))
+    set(GZ-RENDERING gz-rendering8)
+  else()
+    set(GZ-RENDERING gz-rendering7)
+  endif()
   list(
     APPEND
     DEPS
-    gz-rendering7
+    ${GZ_RENDERING}
     gz-math7-eigen3
     "gz-common5 COMPONENTS profiler events av")
 endif()

diff --git a/docker/Dockerfile b/docker/Dockerfile
@@ -9,9 +9,15 @@ USER root
 
 # Install the dependency
 COPY .add-gazebo-ppa /tmp/add_gazebo_ppa.sh
-RUN apt install -y wget qt-advanced-docking-system \
+RUN apt install -y wget \
   && ./tmp/add_gazebo_ppa.sh \
-  && apt install -y qt-advanced-docking-system libgz-rendering7-dev libgz-common5-dev libgz-math7-dev
+  && if [[ $(lsb_release -cs) != noble ]] ; then \
+  apt install -y libgz-rendering7-dev libgz-common5-dev libgz-math7-dev \
+  && apt install -y qt-advanced-docking-system \
+  ; else \
+  apt install -y libgz-rendering8-dev libgz-common5-dev libgz-math7-dev \
+  && apt install -y libqt-advanced-docking-system-dev \
+  ; fi
 
 # Bind mount the source directory so as not to unnecessarily copy source code into the docker image
 ARG WORKSPACE_DIR=/opt/tesseract_qt

diff --git a/rendering/CMakeLists.txt b/rendering/CMakeLists.txt
@@ -7,7 +7,24 @@ find_package(
              OpenGL
   REQUIRED)
 
-find_package(gz-rendering7 REQUIRED)
+if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
+  if(LSB_RELEASE_CODE_SHORT STREQUAL "noble")
+    find_package(gz-rendering8 REQUIRED)
+    # Workaround instead of an ALIAS target, compatible with older CMake
+    add_library(gz-rendering INTERFACE IMPORTED)
+    set_target_properties(gz-rendering PROPERTIES INTERFACE_LINK_LIBRARIES gz-rendering8::gz-rendering8)
+  else()
+    find_package(gz-rendering7 REQUIRED)
+    # Workaround instead of an ALIAS target, compatible with older CMake
+    add_library(gz-rendering INTERFACE IMPORTED)
+    set_target_properties(gz-rendering PROPERTIES INTERFACE_LINK_LIBRARIES gz-rendering7::gz-rendering7)
+  endif()
+else()
+  find_package(gz-rendering7 REQUIRED)
+  # Workaround instead of an ALIAS target, compatible with older CMake
+  add_library(gz-rendering INTERFACE IMPORTED)
+  set_target_properties(gz-rendering PROPERTIES INTERFACE_LINK_LIBRARIES gz-rendering7::gz-rendering7)
+endif()
 find_package(gz-common5 COMPONENTS profiler events av REQUIRED)
 find_package(gz-math7 REQUIRED)
 find_package(gz-math7-eigen3 REQUIRED)
@@ -22,7 +39,7 @@ target_link_libraries(
          gz-common5::gz-common5-profiler
          gz-common5::gz-common5-events
          gz-common5::gz-common5-av
-         gz-rendering7::gz-rendering7
+         gz-rendering
          gz-math7::gz-math7
          gz-math7::gz-math7-eigen3
          ${PROJECT_NAME}_common)
@@ -52,7 +69,7 @@ target_link_libraries(
          gz-common5::gz-common5-profiler
          gz-common5::gz-common5-events
          gz-common5::gz-common5-av
-         gz-rendering7::gz-rendering7
+         gz-rendering
          gz-math7::gz-math7-eigen3
          Qt5::Core
          Qt5::Gui

diff --git a/studio/include/tesseract_qt/studio/plot_docker.h b/studio/include/tesseract_qt/studio/plot_docker.h
@@ -24,13 +24,23 @@
 #define TESSERACT_QT_PLOT_PLOT_DOCKER_H
 
 #ifndef Q_MOC_RUN
+#if __has_include(<qtadvanceddocking/DockManager.h>)
+#include <qtadvanceddocking/DockManager.h>
+#include <qtadvanceddocking/DockWidget.h>
+#include <qtadvanceddocking/DockAreaWidget.h>
+#include <qtadvanceddocking/DockAreaTitleBar.h>
+#include <qtadvanceddocking/DockAreaTabBar.h>
+#include <qtadvanceddocking/FloatingDockContainer.h>
+#include <qtadvanceddocking/DockComponentsFactory.h>
+#else
 #include <DockManager.h>
 #include <DockWidget.h>
 #include <DockAreaWidget.h>
 #include <DockAreaTitleBar.h>
 #include <DockAreaTabBar.h>
 #include <FloatingDockContainer.h>
 #include <DockComponentsFactory.h>
+#endif
 #include <tesseract_qt/plot/plot_data.h>
 #include <tesseract_qt/plot/plot_widget.h>
 #endif

diff --git a/studio/include/tesseract_qt/studio/studio_dock_widget.h b/studio/include/tesseract_qt/studio/studio_dock_widget.h
@@ -25,8 +25,12 @@
 
 #ifndef Q_MOC_RUN
 #include <string>
+#if __has_include(<qtadvanceddocking/DockManager.h>)
+#include <qtadvanceddocking/DockAreaWidget.h>
+#else
 #include <DockAreaWidget.h>
 #endif
+#endif
 
 namespace YAML
 {

diff --git a/studio/src/plot_docker.cpp b/studio/src/plot_docker.cpp
@@ -23,7 +23,11 @@
 #include <tesseract_qt/studio/plot_docker.h>
 #include <tesseract_qt/plot/plot_widget_editor.h>
 #include <tesseract_qt/common/svg_util.h>
+#if __has_include(<qtadvanceddocking/DockManager.h>)
+#include <qtadvanceddocking/DockSplitter.h>
+#else
 #include <DockSplitter.h>
+#endif
 #include <QPushButton>
 #include <QBoxLayout>
 #include <QMouseEvent>

diff --git a/studio/src/studio.cpp b/studio/src/studio.cpp
@@ -38,8 +38,13 @@
 #include <tesseract_qt/studio/studio_plugin_loader_dialog.h>
 #include <tesseract_qt/studio/studio_dock_widget_factory.h>
 
-#include <DockManager.h>
+#if __has_include(<qtadvanceddocking/DockManager.h>)
+#include <qtadvanceddocking/DockAreaWidget.h>
+#include <qtadvanceddocking/DockManager.h>
+#else
 #include <DockAreaWidget.h>
+#include <DockManager.h>
+#endif
 
 #include <QSettings>
 #include <QWidgetAction>