Remove octomap dependency

[urfeex]

The versioned dependency doesn't work out on the latest ubuntu release. However, since compatibility to libfcl-dev is mentioned in the comment: Octomap should be linked in as a transitive depencency from fcl.

In fact, octomap isn't linked to the target, anyway, but fcl is. Looking at the built library it seems that it seems to be correctly linked against liboctomap:

$ ldd libgeometric_shapes.so
        linux-vdso.so.1 (0x0000735e9514b000)
        libassimp.so.6 => /usr/lib/x86_64-linux-gnu/libassimp.so.6 (0x0000735e9497c000)
        libfcl.so.0.7 => /usr/lib/x86_64-linux-gnu/libfcl.so.0.7 (0x0000735e943f0000)
        libqhull_r.so.8.0 => /usr/lib/x86_64-linux-gnu/libqhull_r.so.8.0 (0x0000735e9437d000)
        libconsole_bridge.so.1.0 => /usr/lib/x86_64-linux-gnu/libconsole_bridge.so.1.0 (0x0000735e94377000)
        libresource_retriever.so => /opt/ros/rolling/lib/libresource_retriever.so (0x0000735e9436a000)
        libstdc++.so.6 => /usr/lib/x86_64-linux-gnu/libstdc++.so.6 (0x0000735e940c8000)
        libm.so.6 => /usr/lib/x86_64-linux-gnu/libm.so.6 (0x0000735e93fa2000)
        libgcc_s.so.1 => /usr/lib/x86_64-linux-gnu/libgcc_s.so.1 (0x0000735e93f74000)
        libc.so.6 => /usr/lib/x86_64-linux-gnu/libc.so.6 (0x0000735e93d53000)
        libz.so.1 => /usr/lib/x86_64-linux-gnu/libz.so.1 (0x0000735e93d35000)
        libdraco.so.9 => /usr/lib/x86_64-linux-gnu/libdraco.so.9 (0x0000735e93a60000)
        libminizip.so.1 => /usr/lib/x86_64-linux-gnu/libminizip.so.1 (0x0000735e93a50000)
        libpugixml.so.1 => /usr/lib/x86_64-linux-gnu/libpugixml.so.1 (0x0000735e93a11000)
        libccd.so.2 => /usr/lib/x86_64-linux-gnu/libccd.so.2 (0x0000735e93a05000)
        liboctomap.so.1.10 => /usr/lib/x86_64-linux-gnu/liboctomap.so.1.10 (0x0000735e939c2000)
        liboctomath.so.1.10 => /usr/lib/x86_64-linux-gnu/liboctomath.so.1.10 (0x0000735e939ba000)
        libament_index_cpp.so => /opt/ros/rolling/lib/libament_index_cpp.so (0x0000735e939a7000)
        libcurl.so.4 => /usr/lib/x86_64-linux-gnu/libcurl.so.4 (0x0000735e938b4000)
        /lib64/ld-linux-x86-64.so.2 (0x0000735e9514d000)
        libnghttp2.so.14 => /usr/lib/x86_64-linux-gnu/libnghttp2.so.14 (0x0000735e9388a000)
        libidn2.so.0 => /usr/lib/x86_64-linux-gnu/libidn2.so.0 (0x0000735e93868000)
        librtmp.so.1 => /usr/lib/x86_64-linux-gnu/librtmp.so.1 (0x0000735e93848000)
        libldap.so.2 => /usr/lib/x86_64-linux-gnu/libldap.so.2 (0x0000735e937e3000)
        liblber.so.2 => /usr/lib/x86_64-linux-gnu/liblber.so.2 (0x0000735e937d2000)
        libssh2.so.1 => /usr/lib/x86_64-linux-gnu/libssh2.so.1 (0x0000735e93786000)
        libpsl.so.5 => /usr/lib/x86_64-linux-gnu/libpsl.so.5 (0x0000735e93771000)
        libssl.so.3 => /usr/lib/x86_64-linux-gnu/libssl.so.3 (0x0000735e93663000)
        libcrypto.so.3 => /usr/lib/x86_64-linux-gnu/libcrypto.so.3 (0x0000735e9304a000)
        libgssapi_krb5.so.2 => /usr/lib/x86_64-linux-gnu/libgssapi_krb5.so.2 (0x0000735e92ff0000)
        libzstd.so.1 => /usr/lib/x86_64-linux-gnu/libzstd.so.1 (0x0000735e92f2d000)
        libbrotlidec.so.1 => /usr/lib/x86_64-linux-gnu/libbrotlidec.so.1 (0x0000735e92f1e000)
        libunistring.so.5 => /usr/lib/x86_64-linux-gnu/libunistring.so.5 (0x0000735e92d37000)
        libgnutls.so.30 => /usr/lib/x86_64-linux-gnu/libgnutls.so.30 (0x0000735e92b27000)
        libhogweed.so.6 => /usr/lib/x86_64-linux-gnu/libhogweed.so.6 (0x0000735e92ada000)
        libnettle.so.8 => /usr/lib/x86_64-linux-gnu/libnettle.so.8 (0x0000735e92a83000)
        libgmp.so.10 => /usr/lib/x86_64-linux-gnu/libgmp.so.10 (0x0000735e929fd000)
        libsasl2.so.2 => /usr/lib/x86_64-linux-gnu/libsasl2.so.2 (0x0000735e929e2000)
        libkrb5.so.3 => /usr/lib/x86_64-linux-gnu/libkrb5.so.3 (0x0000735e92916000)
        libk5crypto.so.3 => /usr/lib/x86_64-linux-gnu/libk5crypto.so.3 (0x0000735e928e8000)
        libcom_err.so.2 => /usr/lib/x86_64-linux-gnu/libcom_err.so.2 (0x0000735e928e2000)
        libkrb5support.so.0 => /usr/lib/x86_64-linux-gnu/libkrb5support.so.0 (0x0000735e928d5000)
        libbrotlicommon.so.1 => /usr/lib/x86_64-linux-gnu/libbrotlicommon.so.1 (0x0000735e928b2000)
        libp11-kit.so.0 => /usr/lib/x86_64-linux-gnu/libp11-kit.so.0 (0x0000735e926d7000)
        libtasn1.so.6 => /usr/lib/x86_64-linux-gnu/libtasn1.so.6 (0x0000735e926be000)
        libkeyutils.so.1 => /usr/lib/x86_64-linux-gnu/libkeyutils.so.1 (0x0000735e926b7000)
        libresolv.so.2 => /usr/lib/x86_64-linux-gnu/libresolv.so.2 (0x0000735e926a4000)
        libffi.so.8 => /usr/lib/x86_64-linux-gnu/libffi.so.8 (0x0000735e92693000)

Since it's used a private link target (only used from within a CPP file and fcl being linked privately) it should be save to remove the dependency altogether, at least from my understanding.

Tested to build locally in a resolute-rolling docker container.

This is from my point of view one way to address #268

[rhaschke]

Sounds reasonable.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 69.04%. Comparing base (cd7a5b7) to head (f40b5c4).

Additional details and impacted files

@@           Coverage Diff           @@
##             ros2     #269   +/-   ##
=======================================
  Coverage   69.04%   69.04%           
=======================================
  Files          21       21           
  Lines        3368     3368           
  Branches      325      325           
=======================================
  Hits         2325     2325           
  Misses        932      932           
  Partials      111      111           

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[nbbrooks]

@urfeex thank you - do you have thoughts on #267 ? Will the compilation error still exist (But just on a different path)?

[urfeex]

I would expect that as long as fcl is built correctly against octomap, it will expose the correct library. Thus, it might help with that issue, as well.