Update to package format 2.

diff --git a/tatuira_bringup/CMakeLists.txt b/tatuira_bringup/CMakeLists.txt
index ae15541..1444901 100644 (file)
--- a/tatuira_bringup/CMakeLists.txt
+++ b/tatuira_bringup/CMakeLists.txt
@@ -7,13 +7,11 @@ project(tatuira_bringup)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  effort_controllers
-  joint_state_controller
-#  linearizing_controllers
-#  linearizing_controllers_msgs
-#  nonsmooth_backstep_controller
-)
+#find_package(catkin REQUIRED COMPONENTS
+#  joint_state_controller
+#  tatuira_description
+#  effort_controllers
+#)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
@@ -34,10 +32,10 @@ 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"
-##   * 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:
-##     * 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 ...)
@@ -72,7 +70,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## Generate added messages and services with any dependencies listed here
 # generate_messages(
 #   DEPENDENCIES
-#   linearizing_controllers_msgs
+#   std_msgs  # Or other packages containing msgs
 # )
 
 ################################################
@@ -82,7 +80,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## 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 ...)
@@ -100,14 +98,14 @@ find_package(catkin REQUIRED COMPONENTS
 ###################################
 ## The catkin_package macro generates cmake config files for your package
 ## Declare things to be passed to dependent projects
-## 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 tatuira_bringup
-#  CATKIN_DEPENDS effort_controllers joint_state_controller linearizing_controllers linearizing_controllers_msgs nonsmooth_backstep_controller
+#  CATKIN_DEPENDS joint_state_controller tatuira_description voltage_controllers
 #  DEPENDS system_lib
 )
 
@@ -117,10 +115,10 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(
+#include_directories(
 # include
-  ${catkin_INCLUDE_DIRS}
-)
+#  ${catkin_INCLUDE_DIRS}
+#)
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}

diff --git a/tatuira_bringup/package.xml b/tatuira_bringup/package.xml
index ccb4945..26e60c7 100644 (file)
--- a/tatuira_bringup/package.xml
+++ b/tatuira_bringup/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>tatuira_bringup</name>
   <version>0.1.0</version>
   <description>The tatuira_bringup package</description>
@@ -28,33 +28,32 @@
   <!-- <author email="jane.doe@example.com">Jane Doe</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: -->
+  <!-- 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_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 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 doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>effort_controllers</build_depend>
-  <build_depend>joint_state_controller</build_depend>
-  <!--
-  <build_depend>linearizing_controllers</build_depend>
-  <build_depend>linearizing_controllers_msgs</build_depend>
-  <build_depend>nonsmooth_backstep_controller</build_depend>
-  -->
-  <run_depend>effort_controllers</run_depend>
-  <run_depend>joint_state_controller</run_depend>
-  <!--
-  <run_depend>linearizing_controllers</run_depend>
-  <run_depend>linearizing_controllers_msgs</run_depend>
-  <run_depend>nonsmooth_backstep_controller</run_depend>
-  -->
+  <exec_depend>joint_state_controller</exec_depend>
+  <exec_depend>tatuira_description</exec_depend>
+  <exec_depend>effort_controllers</exec_depend>
+
+
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->

diff --git a/tatuira_description/CMakeLists.txt b/tatuira_description/CMakeLists.txt
index f20304c..2701573 100644 (file)
--- a/tatuira_description/CMakeLists.txt
+++ b/tatuira_description/CMakeLists.txt
@@ -7,7 +7,12 @@ project(tatuira_description)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED)
+#find_package(catkin REQUIRED COMPONENTS
+#  gazebo
+#  gazebo_ros_control
+#  rviz
+#  xacro
+#)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
@@ -28,10 +33,10 @@ find_package(catkin REQUIRED)
 ##   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:
-##     * 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 ...)
@@ -76,7 +81,7 @@ find_package(catkin REQUIRED)
 ## 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 ...)
@@ -94,14 +99,14 @@ find_package(catkin REQUIRED)
 ###################################
 ## 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 tatuira_description
-#  CATKIN_DEPENDS other_catkin_pkg
+#  CATKIN_DEPENDS gazebo gazebo_ros_control gazebo_ros_electrical rviz xacro
 #  DEPENDS system_lib
 )
 
@@ -113,7 +118,7 @@ catkin_package(
 ## Your package locations should be listed before other locations
 include_directories(
 # include
-# ${catkin_INCLUDE_DIRS}
+#  ${catkin_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library

diff --git a/tatuira_description/package.xml b/tatuira_description/package.xml
index 9194eaa..1680a74 100644 (file)
--- a/tatuira_description/package.xml
+++ b/tatuira_description/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>tatuira_description</name>
   <version>0.1.0</version>
   <description>The tatuira_description package</description>
@@ -7,7 +7,6 @@
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="guir@ece.ufrgs.br">Guilherme Alan Ritter</maintainer>
   <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
 
 
@@ -31,18 +30,31 @@
   <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: -->
+  <!-- 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_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 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 doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+  <exec_depend>gazebo</exec_depend>
+  <exec_depend>gazebo_ros_control</exec_depend>
+  <exec_depend>rviz</exec_depend>
+  <exec_depend>xacro</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->