Mandatory yaml dependency

Author: rhaschke

visualization/motion_planning_tasks/properties/CMakeLists.txt

@@ -2,16 +2,13 @@ set(MOVEIT_LIB_NAME motion_planning_tasks_properties)
 
 set(SOURCES
 	property_factory.cpp
+	property_from_yaml.cpp
 )
 
 find_package(PkgConfig REQUIRED)
-pkg_check_modules(YAML yaml-0.1)
-if (YAML_FOUND)
-	# Only cmake > 3.12 provides XXX_LINK_LIBRARIES. Find the absolute path manually
-	find_library(YAML_LIBRARIES ${YAML_LIBRARIES} PATHS ${YAML_LIBRARY_DIRS})
-	list(APPEND SOURCES property_from_yaml.cpp)
-	add_definitions(-DHAVE_YAML)
-endif()
+pkg_check_modules(YAML REQUIRED yaml-0.1)
+# Only cmake > 3.12 provides XXX_LINK_LIBRARIES. Find the absolute path manually
+find_library(YAML_LIBRARIES ${YAML_LIBRARIES} PATHS ${YAML_LIBRARY_DIRS})
 
 add_library(${MOVEIT_LIB_NAME} SHARED ${SOURCES})
 

visualization/motion_planning_tasks/properties/property_factory.cpp

@@ -147,21 +147,4 @@ void PropertyFactory::addRemainingProperties(rviz::Property* root, mtc::Property
 		new rviz::Property("no properties", QVariant(), QString(), root);
 }
 
-#ifndef HAVE_YAML
-rviz::Property* PropertyFactory::createDefault(const std::string& name, const std::string& /*type*/,
-                                               const std::string& description, const std::string& value,
-                                               rviz::Property* old) {
-	if (old) {  // reuse existing Property?
-		assert(old->getNameStd() == name);
-		old->setDescription(QString::fromStdString(description));
-		old->setValue(QString::fromStdString(value));
-		return old;
-	} else {  // create new Property?
-		rviz::Property* result = new rviz::StringProperty(QString::fromStdString(name), QString::fromStdString(value),
-		                                                  QString::fromStdString(description));
-		result->setReadOnly(true);
-		return result;
-	}
-}
-#endif
 }  // namespace moveit_rviz_plugin

visualization/package.xml

@@ -18,6 +18,7 @@
 	<depend>moveit_ros_visualization</depend>
 	<depend>roscpp</depend>
 	<depend>rviz</depend>
+	<depend>yaml</depend>
 
 	<test_depend>rosunit</test_depend>
 	<test_depend>rostest</test_depend>