ObstacleBasedValidStateSampler.h no such file or directory

[aserbremen]

Hey I am following the installation guide, where i exchanged the foxy parts to humble as I am using Ubuntu 22.04.

colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DACADOS_WITH_QPOASES=ON -DACADO_CODE_IS_READY=ON -DWITH_IPOPT=true --packages-skip-regex archive --packages-skip vox_nav_control vox_nav_cupoch; \

The above command fails with

--- stderr: vox_nav_utilities                              
In file included from /home/andi/code/cpp/vox_nav/src/vox_nav/vox_nav_utilities/src/planner_helpers.cpp:17:
/home/andi/code/cpp/vox_nav/src/vox_nav/vox_nav_utilities/include/vox_nav_utilities/planner_helpers.hpp:20:10: fatal error: ompl/base/samplers/ObstacleBasedValidStateSampler.h: No such file or directory
   20 | #include <ompl/base/samplers/ObstacleBasedValidStateSampler.h>
      |          ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

I had to set set(OMPL_INCLUDE_DIRS /path/to/vox_nav_ws/install/ompl/include/ompl-1.6) in src/vox_nav/vox_nav_utilities/CMakeLists.txt and src/vox_nav/vox_nav_planning/CMakeLists.txt

[jediofgever]

Thank you for providing your solution.
It seems that the colcon tool and ompl had a breaking change, causing this error.
Now, instead of source build, we use ompl-dev binary install; you may check the steps Github actions for a successful build.