Revert #2025

now that ompl issue is resolved
ompl/ompl#753

.circleci/config.yml

@@ -69,21 +69,9 @@ _commands:
               apt-get update
               rosdep update
 
-              # workarround for OMPL and rosdep
-              # https://github.com/ompl/ompl/issues/753
-              # Prevent searching $ROS_WS/install given it's too big for rosdep
-
-              if [ "$ROS_WS" == "<< parameters.underlay >>" ]; then
-                underlay_ws=""
-              else
-                underlay_ws=<< parameters.underlay >>/src
-              fi
-              echo underlay_ws = $underlay_ws
-
               dependencies=$(
                 rosdep install -q -y \
                   --from-paths src \
-                    $underlay_ws \
                   --ignore-src \
                   --skip-keys " \
                     slam_toolbox \

Dockerfile

@@ -94,7 +94,6 @@ COPY --from=cacher /tmp/$OVERLAY_WS ./
 RUN . $UNDERLAY_WS/install/setup.sh && \
     apt-get update && rosdep install -q -y \
       --from-paths src \
-        $UNDERLAY_WS/src \
       --skip-keys " \
         slam_toolbox \
         "\

tools/underlay.repos

@@ -22,4 +22,4 @@ repositories:
   # ompl/ompl:
   #   type: git
   #   url: https://github.com/ompl/ompl.git
-  #   version: 1.5.0
+  #   version: main