From a266089ebe4a054e875aafebd477a140386a285e Mon Sep 17 00:00:00 2001
From: Jochen Sprickerhof <git@jochen.sprickerhof.de>
Date: Tue, 10 Jan 2023 11:09:38 +0100
Subject: [PATCH] Don't hard code plugin path to lib/ (#3305)

pluginlib will search the default paths anyhow
---
 moveit_core/collision_detector_bullet_description.xml     | 2 +-
 moveit_core/collision_detector_fcl_description.xml        | 2 +-
 .../cached_ik_kinematics_plugin_description.xml           | 8 ++++----
 moveit_kinematics/kdl_kinematics_plugin_description.xml   | 2 +-
 moveit_kinematics/lma_kinematics_plugin_description.xml   | 2 +-
 moveit_kinematics/srv_kinematics_plugin_description.xml   | 2 +-
 .../chomp_interface_plugin_description.xml                | 2 +-
 .../chomp/chomp_interface/plugin_description.xml          | 2 +-
 .../pilz_industrial_motion_planner_plugin_description.xml | 2 +-
 .../plugins/planning_context_plugin_description.xml       | 6 +++---
 .../plugins/sequence_capability_plugin_description.xml    | 2 +-
 .../sbpl/ros/sbpl_interface_ros/plugin_description.xml    | 2 +-
 .../moveit_ros_control_interface/moveit_core_plugins.xml  | 2 +-
 .../moveit_ros_control_interface_plugins.xml              | 2 +-
 moveit_ros/perception/moveit_depth_self_filter.xml        | 2 +-
 .../lib/plugin_description.xml                            | 2 +-
 16 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/moveit_core/collision_detector_bullet_description.xml b/moveit_core/collision_detector_bullet_description.xml
index 6d90496eadf..b7f68868255 100644
--- a/moveit_core/collision_detector_bullet_description.xml
+++ b/moveit_core/collision_detector_bullet_description.xml
@@ -1,4 +1,4 @@
-<library path="lib/libcollision_detector_bullet_plugin">
+<library path="libcollision_detector_bullet_plugin">
   <class name="Bullet" type="collision_detection::CollisionDetectorBtPluginLoader"
   base_class_type="collision_detection::CollisionPlugin">
     <description>
diff --git a/moveit_core/collision_detector_fcl_description.xml b/moveit_core/collision_detector_fcl_description.xml
index f96b06c05ed..794b8ea2a44 100644
--- a/moveit_core/collision_detector_fcl_description.xml
+++ b/moveit_core/collision_detector_fcl_description.xml
@@ -1,4 +1,4 @@
-<library path="lib/libcollision_detector_fcl_plugin">
+<library path="libcollision_detector_fcl_plugin">
   <class name="FCL" type="collision_detection::CollisionDetectorFCLPluginLoader"
   base_class_type="collision_detection::CollisionPlugin">
     <description>
diff --git a/moveit_kinematics/cached_ik_kinematics_plugin_description.xml b/moveit_kinematics/cached_ik_kinematics_plugin_description.xml
index 014d93d9267..df969dd906d 100644
--- a/moveit_kinematics/cached_ik_kinematics_plugin_description.xml
+++ b/moveit_kinematics/cached_ik_kinematics_plugin_description.xml
@@ -1,4 +1,4 @@
-<library path="lib/libmoveit_cached_ik_kinematics_plugin">
+<library path="libmoveit_cached_ik_kinematics_plugin">
   <class name="cached_ik_kinematics_plugin/CachedKDLKinematicsPlugin" type="cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<kdl_kinematics_plugin::KDLKinematicsPlugin>" base_class_type="kinematics::KinematicsBase">
     <description>
       A kinematics plugin for persistently caching IK solutions computed with the KDL kinematics plugin.
@@ -15,21 +15,21 @@
     </description>
   </class>-->
 </library>
-<!--<library path="lib/libmoveit_cached_ur3_kinematics_plugin">
+<!--<library path="libmoveit_cached_ur3_kinematics_plugin">
   <class name="cached_ik_kinematics_plugin/CachedUR3KinematicsPlugin" type="cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<ur_kinematics::URKinematicsPlugin>" base_class_type="kinematics::KinematicsBase">
     <description>
       A kinematics plugin for persistently caching IK solutions computed with the UR3 kinematics plugin.
     </description>
   </class>
 </library>
-<library path="lib/libmoveit_cached_ur5_kinematics_plugin">
+<library path="libmoveit_cached_ur5_kinematics_plugin">
   <class name="cached_ik_kinematics_plugin/CachedUR5KinematicsPlugin" type="cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<ur_kinematics::URKinematicsPlugin>" base_class_type="kinematics::KinematicsBase">
     <description>
       A kinematics plugin for persistently caching IK solutions computed with the UR5 kinematics plugin.
     </description>
   </class>
 </library>
-<library path="lib/libmoveit_cached_ur10_kinematics_plugin">
+<library path="libmoveit_cached_ur10_kinematics_plugin">
   <class name="cached_ik_kinematics_plugin/CachedUR10KinematicsPlugin" type="cached_ik_kinematics_plugin::CachedIKKinematicsPlugin<ur_kinematics::URKinematicsPlugin>" base_class_type="kinematics::KinematicsBase">
     <description>
       A kinematics plugin for persistently caching IK solutions computed with the UR10 kinematics plugin.
diff --git a/moveit_kinematics/kdl_kinematics_plugin_description.xml b/moveit_kinematics/kdl_kinematics_plugin_description.xml
index 1c7da9771bb..dbaa0745c7e 100644
--- a/moveit_kinematics/kdl_kinematics_plugin_description.xml
+++ b/moveit_kinematics/kdl_kinematics_plugin_description.xml
@@ -1,4 +1,4 @@
-<library path="lib/libmoveit_kdl_kinematics_plugin">
+<library path="libmoveit_kdl_kinematics_plugin">
   <class name="kdl_kinematics_plugin/KDLKinematicsPlugin" type="kdl_kinematics_plugin::KDLKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
     <description>
       A implementation of kinematics as a plugin based on KDL.
diff --git a/moveit_kinematics/lma_kinematics_plugin_description.xml b/moveit_kinematics/lma_kinematics_plugin_description.xml
index e3e4a3be2d8..35b36a471d3 100644
--- a/moveit_kinematics/lma_kinematics_plugin_description.xml
+++ b/moveit_kinematics/lma_kinematics_plugin_description.xml
@@ -1,4 +1,4 @@
-<library path="lib/libmoveit_lma_kinematics_plugin">
+<library path="libmoveit_lma_kinematics_plugin">
   <class name="lma_kinematics_plugin/LMAKinematicsPlugin" type="lma_kinematics_plugin::LMAKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
     <description>
       A implementation of kinematics as a plugin based on KDL ChainIkSolverPos_LMA.
diff --git a/moveit_kinematics/srv_kinematics_plugin_description.xml b/moveit_kinematics/srv_kinematics_plugin_description.xml
index 638d9831d2a..5d02472a57c 100644
--- a/moveit_kinematics/srv_kinematics_plugin_description.xml
+++ b/moveit_kinematics/srv_kinematics_plugin_description.xml
@@ -1,4 +1,4 @@
-<library path="lib/libmoveit_srv_kinematics_plugin">
+<library path="libmoveit_srv_kinematics_plugin">
   <class name="srv_kinematics_plugin/SrvKinematicsPlugin" type="srv_kinematics_plugin::SrvKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
     <description>
       A implementation of kinematics as a plugin that uses a ROS service layer to communicate with an external IK solver
diff --git a/moveit_planners/chomp/chomp_interface/chomp_interface_plugin_description.xml b/moveit_planners/chomp/chomp_interface/chomp_interface_plugin_description.xml
index 15c2429cdf5..ceb453c4d5f 100644
--- a/moveit_planners/chomp/chomp_interface/chomp_interface_plugin_description.xml
+++ b/moveit_planners/chomp/chomp_interface/chomp_interface_plugin_description.xml
@@ -1,4 +1,4 @@
-<library path="lib/libchomp_planner_plugin">
+<library path="libchomp_planner_plugin">
   <class name="chomp_interface/CHOMPPlanner" type="chomp_interface::CHOMPPlannerManager" base_class_type="planning_interface::PlannerManager">
     <description>
     The CHOMP motion planner plugin.
diff --git a/moveit_planners/chomp/chomp_interface/plugin_description.xml b/moveit_planners/chomp/chomp_interface/plugin_description.xml
index 5adc4a70e42..3f5f257412f 100644
--- a/moveit_planners/chomp/chomp_interface/plugin_description.xml
+++ b/moveit_planners/chomp/chomp_interface/plugin_description.xml
@@ -1,4 +1,4 @@
-<library path="lib/libchomp_planner_plugin">
+<library path="libchomp_planner_plugin">
   <class name="chomp_interface_ros/CHOMPPlanner" type="chomp_interface_ros::CHOMPPlanner" base_class_type="planning_interface::Planner">
     <description>
     </description>
diff --git a/moveit_planners/pilz_industrial_motion_planner/plugins/pilz_industrial_motion_planner_plugin_description.xml b/moveit_planners/pilz_industrial_motion_planner/plugins/pilz_industrial_motion_planner_plugin_description.xml
index 3a6f16cf508..7a5762788d0 100644
--- a/moveit_planners/pilz_industrial_motion_planner/plugins/pilz_industrial_motion_planner_plugin_description.xml
+++ b/moveit_planners/pilz_industrial_motion_planner/plugins/pilz_industrial_motion_planner_plugin_description.xml
@@ -1,4 +1,4 @@
-<library path="lib/libpilz_industrial_motion_planner">
+<library path="libpilz_industrial_motion_planner">
   <class type="pilz_industrial_motion_planner::CommandPlanner" base_class_type="planning_interface::PlannerManager">
     <description>Pilz Industrial Motion Planner</description>
   </class>
diff --git a/moveit_planners/pilz_industrial_motion_planner/plugins/planning_context_plugin_description.xml b/moveit_planners/pilz_industrial_motion_planner/plugins/planning_context_plugin_description.xml
index 0ff208f2a26..d0b9d69d351 100644
--- a/moveit_planners/pilz_industrial_motion_planner/plugins/planning_context_plugin_description.xml
+++ b/moveit_planners/pilz_industrial_motion_planner/plugins/planning_context_plugin_description.xml
@@ -1,16 +1,16 @@
-<library path="lib/libplanning_context_loader_ptp">
+<library path="libplanning_context_loader_ptp">
   <class type="pilz_industrial_motion_planner::PlanningContextLoaderPTP"
          base_class_type="pilz_industrial_motion_planner::PlanningContextLoader">
     <description>Loader for PTP Context</description>
   </class>
 </library>
-<library path="lib/libplanning_context_loader_lin">
+<library path="libplanning_context_loader_lin">
   <class type="pilz_industrial_motion_planner::PlanningContextLoaderLIN"
          base_class_type="pilz_industrial_motion_planner::PlanningContextLoader">
     <description>Loader for LIN Context</description>
   </class>
 </library>
-<library path="lib/libplanning_context_loader_circ">
+<library path="libplanning_context_loader_circ">
   <class type="pilz_industrial_motion_planner::PlanningContextLoaderCIRC"
          base_class_type="pilz_industrial_motion_planner::PlanningContextLoader">
     <description>Loader for CIRC Context</description>
diff --git a/moveit_planners/pilz_industrial_motion_planner/plugins/sequence_capability_plugin_description.xml b/moveit_planners/pilz_industrial_motion_planner/plugins/sequence_capability_plugin_description.xml
index 9daf67146ce..90532f829bf 100644
--- a/moveit_planners/pilz_industrial_motion_planner/plugins/sequence_capability_plugin_description.xml
+++ b/moveit_planners/pilz_industrial_motion_planner/plugins/sequence_capability_plugin_description.xml
@@ -1,4 +1,4 @@
-<library path="lib/libsequence_capability">
+<library path="libsequence_capability">
   <class name="pilz_industrial_motion_planner/MoveGroupSequenceAction"
          type="pilz_industrial_motion_planner::MoveGroupSequenceAction"
          base_class_type="move_group::MoveGroupCapability">
diff --git a/moveit_planners/sbpl/ros/sbpl_interface_ros/plugin_description.xml b/moveit_planners/sbpl/ros/sbpl_interface_ros/plugin_description.xml
index 951f0d85cc0..81b0b764402 100644
--- a/moveit_planners/sbpl/ros/sbpl_interface_ros/plugin_description.xml
+++ b/moveit_planners/sbpl/ros/sbpl_interface_ros/plugin_description.xml
@@ -1,4 +1,4 @@
-<library path="lib/libsbpl_planner_plugin">
+<library path="libsbpl_planner_plugin">
   <class name="sbpl_interface_ros/SBPLPlanner" type="sbpl_interface_ros::SBPLPlanner" base_class_type="planning_interface::Planner">
     <description>
     </description>
diff --git a/moveit_plugins/moveit_ros_control_interface/moveit_core_plugins.xml b/moveit_plugins/moveit_ros_control_interface/moveit_core_plugins.xml
index 3bd7e971cca..5e6fa1cd67b 100644
--- a/moveit_plugins/moveit_ros_control_interface/moveit_core_plugins.xml
+++ b/moveit_plugins/moveit_ros_control_interface/moveit_core_plugins.xml
@@ -1,5 +1,5 @@
 <class_libraries>
-  <library path="lib/libmoveit_ros_control_interface_plugin">
+  <library path="libmoveit_ros_control_interface_plugin">
     <class type="moveit_ros_control_interface::MoveItControllerManager" base_class_type="moveit_controller_manager::MoveItControllerManager">
         <description>ros_control controller manager interface for MoveIt</description>
     </class>
diff --git a/moveit_plugins/moveit_ros_control_interface/moveit_ros_control_interface_plugins.xml b/moveit_plugins/moveit_ros_control_interface/moveit_ros_control_interface_plugins.xml
index 3bac259dd2f..c635a581b8e 100644
--- a/moveit_plugins/moveit_ros_control_interface/moveit_ros_control_interface_plugins.xml
+++ b/moveit_plugins/moveit_ros_control_interface/moveit_ros_control_interface_plugins.xml
@@ -1,5 +1,5 @@
 <class_libraries>
-  <library path="lib/libmoveit_ros_control_interface_trajectory_plugin">
+  <library path="libmoveit_ros_control_interface_trajectory_plugin">
     <class name="position_controllers/JointTrajectoryController" type="moveit_ros_control_interface::JointTrajectoryControllerAllocator" base_class_type="moveit_ros_control_interface::ControllerHandleAllocator">
         <description></description>
     </class>
diff --git a/moveit_ros/perception/moveit_depth_self_filter.xml b/moveit_ros/perception/moveit_depth_self_filter.xml
index 41538682959..2a73cb2c139 100644
--- a/moveit_ros/perception/moveit_depth_self_filter.xml
+++ b/moveit_ros/perception/moveit_depth_self_filter.xml
@@ -1,4 +1,4 @@
-<library path="lib/libmoveit_depth_self_filter">
+<library path="libmoveit_depth_self_filter">
     <class name="mesh_filter/DepthSelfFiltering" type="mesh_filter::DepthSelfFiltering" base_class_type="nodelet::Nodelet">
         <description>
             Nodelet for filtering meshes from depth images. e.g. meshes of the robot or any attached object where a transformation can be provided for.
diff --git a/moveit_ros/planning/trajectory_execution_manager/lib/plugin_description.xml b/moveit_ros/planning/trajectory_execution_manager/lib/plugin_description.xml
index faf679d629a..46bd09cfcb7 100644
--- a/moveit_ros/planning/trajectory_execution_manager/lib/plugin_description.xml
+++ b/moveit_ros/planning/trajectory_execution_manager/lib/plugin_description.xml
@@ -1,4 +1,4 @@
-<library path="lib/libtest_controller_manager_plugin">
+<library path="libtest_controller_manager_plugin">
   <class name="test_moveit_controller_manager/TestMoveItControllerManager" type="test_moveit_controller_manager::TestMoveItControllerManager" base_class_type="moveit_controller_manager::MoveItControllerManager">
     <description>
     </description>