[pull] master from choreonoid:master

CMakeLists.txt

@@ -94,7 +94,9 @@ set(CNOID_BINARY_SHARE_DIR ${CHOREONOID_BINARY_SHARE_DIR})
 set(CMAKE_CXX_EXTENSIONS OFF)
 
 # C++ version
-if(NOT CMAKE_CXX_STANDARD)
+if(CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD ${CMAKE_CXX_STANDARD} CACHE STRING "C++ version number. Specify either 17 or 14.")
+else()
   set(cxx_standard 11)
   if(NOT CMAKE_VERSION VERSION_LESS 3.8.0) # CMake 3.8 or later is required to enable C++17
     if(UNIX)
@@ -110,16 +112,16 @@ if(NOT CMAKE_CXX_STANDARD)
     endif()
   endif()
   if(NOT has_cpp17)
-    if(UNIX)
-      check_cxx_compiler_flag("-std=c++14" has_cpp14)
-    elseif(MSVC)
-      check_cxx_compiler_flag("-std=c++14" has_cpp14)
-    endif()
+    check_cxx_compiler_flag("-std=c++14" has_cpp14)
     if(has_cpp14)
       set(cxx_standard 14)
     endif()
   endif()
-  set(CMAKE_CXX_STANDARD ${cxx_standard} CACHE STRING "C++ version number. Specify either 17, 14 or 11.")
+  set(CMAKE_CXX_STANDARD ${cxx_standard} CACHE STRING "C++ version number. Specify either 17, 14.")
+endif()
+
+if(CMAKE_CXX_STANDARD LESS 14)
+  message(FATAL_ERROR "Choreonoid requires C++14 or higher.")
 endif()
 
 if(UNIX)
@@ -423,9 +425,6 @@ if(ENABLE_PYTHON)
   set(init_py "${PROJECT_BINARY_DIR}/${CHOREONOID_PYTHON_SUBDIR}/cnoid/__init__.py")
   file(WRITE ${init_py} "")
   install(FILES ${init_py} DESTINATION ${CHOREONOID_PYTHON_SUBDIR}/cnoid)
-  if(MSVC)
-    add_definitions(-DHAVE_SNPRINTF)
-  endif()
 
   if(NOT USE_BUNDLED_PYBIND11)
     find_package(pybind11 2.6 QUIET)
@@ -475,35 +474,25 @@ if(ENABLE_LUA)
   set(CHOREONOID_LUA_SUBDIR ${CHOREONOID_PLUGIN_SUBDIR}/lua)
 endif()
 
-# boost
-set(Boost_USE_STATIC_LIBS OFF)
-set(Boost_ADDITIONAL_VERSIONS "1.62" "1.63" "1.64" "1.65" "1.66" "1.67" "1.68" "1.69" "1.70" "1.71" "1.72" "1.73" "1.74" "1.75")
-set(boost_packages iostreams system)
-if(CMAKE_CXX_STANDARD LESS 17)
-  set(boost_packages ${boost_packages} filesystem)
-endif()
-if(MSVC)
-  find_package(Boost 1.58.0 REQUIRED COMPONENTS ${boost_packages} OPTIONAL_COMPONENTS bzip2 zlib)
+if(CMAKE_CXX_STANDARD GREATER_EQUAL 17)
+  if(UNIX)
+    set(FILESYSTEM_LIBRARY stdc++fs)
+  endif()
+  set(has_boost_libs_for_util_libs false)
 else()
-  find_package(Boost 1.58.0 REQUIRED COMPONENTS ${boost_packages})
-endif()
-
-if(CMAKE_CXX_STANDARD LESS 17)
-  set(FILESYSTEM_LIBRARY ${Boost_FILESYSTEM_LIBRARY})
-elseif(UNIX)
-  set(FILESYSTEM_LIBRARY stdc++fs)
-endif()
-
-include_directories(${Boost_INCLUDE_DIRS})
-link_directories(${Boost_LIBRARY_DIRS})
-list(APPEND CHOREONOID_SDK_INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
-list(APPEND CHOREONOID_SDK_LIBRARY_DIRS ${Boost_LIBRARY_DIRS})
-
-if(MSVC)
-  set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS BOOST_ALL_DYN_LINK ${BOOST_LIB_DIAGNOSTIC})
-  install_runtime_dlls(${Boost_LIBRARY_DIRS}
-    ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY}
-    ${Boost_IOSTREAMS_LIBRARY} ${Boost_ZLIB_LIBRARY})
+  # boost
+  set(Boost_USE_STATIC_LIBS OFF)
+  find_package(Boost REQUIRED COMPONENTS system filesystem)
+  include_directories(${Boost_INCLUDE_DIRS})
+  link_directories(${Boost_LIBRARY_DIRS})
+  list(APPEND CHOREONOID_SDK_INCLUDE_DIRS ${Boost_INCLUDE_DIRS})
+  list(APPEND CHOREONOID_SDK_LIBRARY_DIRS ${Boost_LIBRARY_DIRS})
+  set(FILESYSTEM_LIBRARY ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY})
+  if(MSVC)
+    set_property(DIRECTORY APPEND PROPERTY COMPILE_DEFINITIONS BOOST_ALL_DYN_LINK ${BOOST_LIB_DIAGNOSTIC})
+    install_runtime_dlls(${Boost_LIBRARY_DIRS} ${Boost_SYSTEM_LIBRARY} ${Boost_FILESYSTEM_LIBRARY})
+  endif()
+  set(has_boost_libs_for_util_libs true)
 endif()
 
 # Eigen

LICENSE

@@ -1,7 +1,7 @@
 
 Choreonoid - An integrated graphical robotics software framework
 
-Copyright (c) 2019-2023 Choreonoid Inc.
+Copyright (c) 2019-2024 Choreonoid Inc.
 
 Copyright (c) 2007-2019
     Shin'ichiro Nakaoka and the Choreonoid development team,
@@ -56,57 +56,64 @@ copyrighted by other developers.
 This software also includes the following software components which are
 copyrighted by other developers.
 
+ * CLI11 (https://github.com/CLIUtils/CLI11)
+   see thirdparty/CLI11/LICENSE
+
  * Eigen (http://eigen.tuxfamily.org)
-   see thirdparty/eigen/COPYING.README
+   see thirdparty/eigen-3.2.10/COPYING.README
+
+ * fast_float (https://github.com/fastfloat/fast_float)
+   see thirdparty/fast_float-0.8.0/LICENSE.rst
+
+ * fmt (http://fmtlib.net)
+   see thirdparty/fmt-7.1.3/LICENSE.rst
+
+ * FreeType (http://freetype.org/)
+   see thirdparty/freetype-2.13.0/LICENSE.TXT
+
+ * gettext (http://www.gnu.org/software/gettext)
+   see thirdparty/gettext-0.21/include/libintl.h
 
  * IJG JPEG Library (http://www.ijg.org)
-   see thirdparty/Jpeg-6b/README
+   see thirdparty/Jpeg-9c/README
 
  * libpng (http://www.libpng.org/pub/png/libpng.html)
    see thirdparty/lpng1232/LICENSE
 
- * LibYAML (http://pyyaml.org/wiki/LibYAML)
-   MIT license (see thirdparty/yaml-0.1.7/LICENSE)
-
- * zlib (https://zlib.net/)
-   see thirdparty/zlib-1.2.13/LICENSE
-
  * libzip (https://libzip.org/)
    see thirdparty/libzip-1.9.2/LICENSE
 
+ * LibYAML (http://pyyaml.org/wiki/LibYAML)
+   MIT license (see thirdparty/yaml-0.2.5/LICENSE)
+
  * OPCODE (http://www.codercorner.com/Opcode.htm)
    see src/AISTCollisionDetector/Opcode/ReadMe.txt
 
- * gettext (http://www.gnu.org/software/gettext)
-   see thirdparty/gettext-0.21/include/libintl.h
+ * Pugixml (https://pugixml.org)
+   see thirdparty/pugixml-1.11/readme.txt
 
  * pybind11 (https://github.com/pybind/pybind11)
-   see thirdparty/pybind11-2.1.1/LICENSE
+   see thirdparty/pybind11-2.10.3/LICENSE
 
  * Sol (https://github.com/ThePhD/sol2)
    see thirdparty/sol2/LICENSE
 
- * Pugixml (https://pugixml.org)
-   see thirdparty/pugixml-1.11/readme.txt
-
- * fmt (http://fmtlib.net)
-   see thirdparty/fmt-5.3.0/LICENSE.rst
-
- * fast_float (https://github.com/fastfloat/fast_float)
-   see thirdparty/fast_float-0.8.0/LICENSE.rst
-
  * Xacro (https://github.com/ros/xacro)
    sett thirdparty/xacro-1.14.10/package.xml
 
+ * zlib (https://zlib.net/)
+   see thirdparty/zlib-1.2.13/LICENSE
+
 ---------------------------------------------------------------------------
 
 Some binary distributions of Choreonoid may include the binaries of the
 following libraries:
 
-* Boost C++ Libraries (http://www.boost.org/)
 * Qt (http://qt-project.org/)
-* Eigen (http://eigen.tuxfamily.org/)
+* Boost C++ Libraries (http://www.boost.org/)
 * Assimp (https://www.assimp.org/)
 * Open Dynamics Engine (http://www.ode.org/)
 * Bullet Physics Library (http://bulletphysics.org/)
+* FFmpeg (https://ffmpeg.org/)
+* Point Cloud Library (https://pointclouds.org/)
 * omniORB (http://omniorb.sourceforge.net/)

cmake/CMakeLists.txt

@@ -12,21 +12,11 @@ set(modules
   ChoreonoidFindQt.cmake
   )
 
-set(util_dependencies fmt)
-
-set(has_boost_libs_for_util_libs true)
-set(boost_version ${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION})
-# set(boost_version ${Boost_VERSION_STRING})
-set(boost_components_for_util_libs system)
-set(boost_libs_for_util_libs ${Boost_SYSTEM_LIBRARY})
-
-if(CMAKE_CXX_STANDARD LESS 17)
-  list(APPEND boost_components_for_util_libs filesystem)
-  list(APPEND boost_libs_for_util_libs ${Boost_FILESYSTEM_LIBRARY})
-else() # C++17
-  if(UNIX)
-    list(APPEND util_dependencies stdc++fs)
-  endif()
+set(util_dependencies fmt ${FILESYSTEM_LIBRARY})
+
+if(has_boost_libs_for_util_libs)
+  set(boost_version ${Boost_MAJOR_VERSION}.${Boost_MINOR_VERSION}.${Boost_SUBMINOR_VERSION})
+  set(boost_components_for_util_libs system filesystem)
 endif()
 
 if(UNIX)

cmake/ChoreonoidConfig.cmake.in

@@ -52,7 +52,6 @@ set(CHOREONOID_LIBRARY_DIRS "@library_dirs@")
 
 if(@has_boost_libs_for_util_libs@)
   find_package(Boost @boost_version@ EXACT COMPONENTS @boost_components_for_util_libs@)
-  list(APPEND CHOREONOID_UTIL_LIBRARIES @boost_libs_for_util_libs@)
 endif()
 
 add_library(Choreonoid::CnoidUtil SHARED IMPORTED GLOBAL)
@@ -72,13 +71,18 @@ endif()
 # to specify INTERFACE for an imported library, and it is supported in CMake 3.11 and later.
 # To be able to use CMake 3.10, the following alternative descriptions with the set_property command are used.
 #target_compile_definitions(Choreonoid::CnoidUtil INTERFACE ${CHOREONOID_COMPILE_DEFINITIONS})
-#target_include_directories(Choreonoid::CnoidUtil INTERFACE ${CHOREONOID_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+#target_include_directories(Choreonoid::CnoidUtil INTERFACE ${CHOREONOID_INCLUDE_DIRS})
 set_property(TARGET Choreonoid::CnoidUtil APPEND PROPERTY INTERFACE_COMPILE_DEFINITIONS
   ${CHOREONOID_COMPILE_DEFINITIONS})
-set_property(TARGET Choreonoid::CnoidUtil APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
-  ${CHOREONOID_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+if(@has_boost_libs_for_util_libs@)
+  set_property(TARGET Choreonoid::CnoidUtil APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+    ${CHOREONOID_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
+else()
+  set_property(TARGET Choreonoid::CnoidUtil APPEND PROPERTY INTERFACE_INCLUDE_DIRECTORIES
+    ${CHOREONOID_INCLUDE_DIRS})
+endif()
 
-target_link_libraries(Choreonoid::CnoidUtil INTERFACE @util_dependencies@;${Boost_LIBRARIES})
+target_link_libraries(Choreonoid::CnoidUtil INTERFACE @util_dependencies@)
 set(CHOREONOID_UTIL_LIBRARIES Choreonoid::CnoidUtil)
 
 add_library(Choreonoid::CnoidBase SHARED IMPORTED GLOBAL)

misc/script/install-requisites-ubuntu-20.04.sh

@@ -4,10 +4,6 @@ sudo --preserve-env=DEBIAN_FRONTEND,TZ \
 apt-get -y install \
 build-essential \
 cmake-curses-gui \
-libboost-dev \
-libboost-system-dev \
-libboost-iostreams-dev \
-libboost-filesystem-dev \
 libeigen3-dev \
 uuid-dev \
 libxfixes-dev \

misc/script/install-requisites-ubuntu-22.04.sh

@@ -4,9 +4,6 @@ sudo --preserve-env=DEBIAN_FRONTEND,TZ \
 apt-get -y install \
 build-essential \
 cmake-curses-gui \
-libboost-dev \
-libboost-system-dev \
-libboost-iostreams-dev \
 libeigen3-dev \
 uuid-dev \
 libxfixes-dev \

package.xml

@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 
-<package format="2">
+<package format="3">
 
   <name>choreonoid</name>
   <version>1.7.0</version>
@@ -14,7 +14,8 @@
   <url type="repository">https://github.com/choreonoid/choreonoid/</url>
   <url type="bugtracker">https://github.com/choreonoid/choreonoid/issues</url>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
   <depend>boost</depend>
   <build_export_depend>eigen</build_export_depend>

sample/GRobotPlugin/CMakeLists.txt

@@ -1,4 +1,5 @@
 option(BUILD_GROBOT_PLUGIN "Building GRobotPlugin" OFF)
+mark_as_advanced(BUILD_GROBOT_PLUGIN)
 
 if(NOT BUILD_GROBOT_PLUGIN)
   return()

src/AssimpSceneLoader/AssimpSceneLoader.cpp

@@ -3,7 +3,6 @@
 #include <cnoid/SceneDrawables>
 #include <cnoid/MeshFilter>
 #include <cnoid/ImageIO>
-#include <cnoid/Exception>
 #include <cnoid/NullOut>
 #include <cnoid/UTF8>
 #include <cnoid/stdx/filesystem>