Update to package format 2.

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8140799..e6688e3 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,6 +16,7 @@ find_package(catkin REQUIRED COMPONENTS
   electrical_interface
   forward_command_controller
   realtime_tools
   electrical_interface
   forward_command_controller
   realtime_tools

+  roscpp

   urdf
 )
 
   urdf
 )
 


@@ -38,10 +39,10 @@ find_package(catkin REQUIRED COMPONENTS
 ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 ## * In the file package.xml:
 ##   * add a build_depend tag for "message_generation"
 ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
 ## * In the file package.xml:
 ##   * add a build_depend tag for "message_generation"

-##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET

 ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 ##     but can be declared for certainty nonetheless:
 ##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
 ##     but can be declared for certainty nonetheless:

-##     * add a run_depend tag for "message_runtime"
+##     * add a exec_depend tag for "message_runtime"

 ## * In this file (CMakeLists.txt):
 ##   * add "message_generation" and every package in MSG_DEP_SET to
 ##     find_package(catkin REQUIRED COMPONENTS ...)
 ## * In this file (CMakeLists.txt):
 ##   * add "message_generation" and every package in MSG_DEP_SET to
 ##     find_package(catkin REQUIRED COMPONENTS ...)


@@ -86,7 +87,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## To declare and build dynamic reconfigure parameters within this
 ## package, follow these steps:
 ## * In the file package.xml:
 ## To declare and build dynamic reconfigure parameters within this
 ## package, follow these steps:
 ## * In the file package.xml:

-##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"

 ## * In this file (CMakeLists.txt):
 ##   * add "dynamic_reconfigure" to
 ##     find_package(catkin REQUIRED COMPONENTS ...)
 ## * In this file (CMakeLists.txt):
 ##   * add "dynamic_reconfigure" to
 ##     find_package(catkin REQUIRED COMPONENTS ...)


@@ -104,14 +105,14 @@ find_package(catkin REQUIRED COMPONENTS
 ###################################
 ## The catkin_package macro generates cmake config files for your package
 ## Declare things to be passed to dependent projects
 ###################################
 ## The catkin_package macro generates cmake config files for your package
 ## Declare things to be passed to dependent projects

-## INCLUDE_DIRS: uncomment this if you package contains header files
+## INCLUDE_DIRS: uncomment this if your package contains header files

 ## LIBRARIES: libraries you create in this project that dependent projects also need
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
   INCLUDE_DIRS include
 #  LIBRARIES voltage_controllers
 ## LIBRARIES: libraries you create in this project that dependent projects also need
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
   INCLUDE_DIRS include
 #  LIBRARIES voltage_controllers

-#  CATKIN_DEPENDS angles control_msgs control_toolbox controller_interface dynamic_reconfigure forward_command_controller realtime_tools urdf
+#  CATKIN_DEPENDS angles control_msgs control_toolbox controller_interface dynamic_reconfigure electrica_interface forward_command_controller realtime_tools roscpp urdf

 #  DEPENDS system_lib
 )
 
 #  DEPENDS system_lib
 )
 


@@ -122,7 +123,7 @@ catkin_package(
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 include_directories(
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 include_directories(

-  include
+ include

   ${catkin_INCLUDE_DIRS}
 )
 
   ${catkin_INCLUDE_DIRS}
 )
 


@@ -193,7 +194,7 @@ install(DIRECTORY include/${PROJECT_NAME}/
 install(FILES
 #   # myfile1
 #   # myfile2
 install(FILES
 #   # myfile1
 #   # myfile2

-    voltage_controllers_plugins.xml
+   voltage_controllers_plugins.xml

    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 

diff --git a/package.xml b/package.xml
index da56e19..8bee5e7 100644 (file)
--- a/package.xml
+++ b/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
 <?xml version="1.0"?>

-<package>
+<package format="2">

   <name>voltage_controllers</name>
   <version>0.1.0</version>
   <description>The voltage_controllers package</description>
   <name>voltage_controllers</name>
   <version>0.1.0</version>
   <description>The voltage_controllers package</description>


@@ -26,19 +26,28 @@
   <!-- Authors do not have to be maintainers, but could be -->
   <!-- Example: -->
   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
   <!-- Authors do not have to be maintainers, but could be -->
   <!-- Example: -->
   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->

-       <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>
+  <author email="fetter@ece.ufrgs.br">Walter Fetter Lages</author>

 
 

-  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- The *depend tags are used to specify dependencies -->

   <!-- Dependencies can be catkin packages or system dependencies -->
   <!-- Examples: -->
   <!-- Dependencies can be catkin packages or system dependencies -->
   <!-- Examples: -->

+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->

   <!-- Use build_depend for packages you need at compile time: -->
   <!--   <build_depend>message_generation</build_depend> -->
   <!-- Use build_depend for packages you need at compile time: -->
   <!--   <build_depend>message_generation</build_depend> -->

+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->

   <!-- Use buildtool_depend for build tool packages: -->
   <!--   <buildtool_depend>catkin</buildtool_depend> -->
   <!-- Use buildtool_depend for build tool packages: -->
   <!--   <buildtool_depend>catkin</buildtool_depend> -->

-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->

   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->

+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->

   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>angles</build_depend>
   <build_depend>control_msgs</build_depend>
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>angles</build_depend>
   <build_depend>control_msgs</build_depend>


@@ -48,20 +57,33 @@
   <build_depend>electrical_interface</build_depend>
   <build_depend>forward_command_controller</build_depend>
   <build_depend>realtime_tools</build_depend>
   <build_depend>electrical_interface</build_depend>
   <build_depend>forward_command_controller</build_depend>
   <build_depend>realtime_tools</build_depend>

+  <build_depend>roscpp</build_depend>

   <build_depend>urdf</build_depend>
   <build_depend>urdf</build_depend>

-  <run_depend>angles</run_depend>
-  <run_depend>control_msgs</run_depend>
-  <run_depend>control_toolbox</run_depend>
-  <run_depend>controller_interface</run_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
-  <run_depend>forward_command_controller</run_depend>
-  <run_depend>realtime_tools</run_depend>
-  <run_depend>urdf</run_depend>
+  <build_export_depend>angles</build_export_depend>
+  <build_export_depend>control_msgs</build_export_depend>
+  <build_export_depend>control_toolbox</build_export_depend>
+  <build_export_depend>controller_interface</build_export_depend>
+  <build_export_depend>dynamic_reconfigure</build_export_depend>
+  <build_export_depend>electrical_interface</build_export_depend>
+  <build_export_depend>forward_command_controller</build_export_depend>
+  <build_export_depend>realtime_tools</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>urdf</build_export_depend>
+  <exec_depend>angles</exec_depend>
+  <exec_depend>control_msgs</exec_depend>
+  <exec_depend>control_toolbox</exec_depend>
+  <exec_depend>controller_interface</exec_depend>
+  <exec_depend>dynamic_reconfigure</exec_depend>
+  <exec_depend>electrical_interface</exec_depend>
+  <exec_depend>forward_command_controller</exec_depend>
+  <exec_depend>realtime_tools</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>urdf</exec_depend>

 
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->
 
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->

-       <controller_interface plugin="${prefix}/voltage_controllers_plugins.xml" />
+    <controller_interface plugin="${prefix}/voltage_controllers_plugins.xml" />

   </export>
 </package>
   </export>
 </package>