Port to Melodic.

diff --git a/CMakeLists.txt b/CMakeLists.txt
index d32bc03..1948eda 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,12 +2,13 @@ cmake_minimum_required(VERSION 2.8.3)
 project(nonsmooth_backstep_controller)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
+add_compile_options(-std=c++11)
 
 ## 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
+  arc_odometry
   controller_interface
   effort_controllers
   geometry_msgs
@@ -16,13 +17,11 @@ find_package(catkin REQUIRED COMPONENTS
   nav_msgs
   roscpp
   tf
-  arc_odometry
 )
-find_package(cmake_modules REQUIRED)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
-find_package(Eigen REQUIRED)
+find_package(Eigen3 REQUIRED)
 
 
 ## Uncomment this if the package has a setup.py. This macro ensures
@@ -40,10 +39,10 @@ find_package(Eigen 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 ...)
@@ -92,7 +91,7 @@ generate_messages(
 ## 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 ...)
@@ -110,15 +109,15 @@ generate_messages(
 ###################################
 ## 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 nonsmooth_backstep_controller
-  CATKIN_DEPENDS controller_interface effort_controllers geometry_msgs message_generation message_runtime nav_msgs roscpp tf arc_odometry
-  DEPENDS Eigen
+  CATKIN_DEPENDS arc_odometry controller_interface effort_controllers geometry_msgs  nav_msgs roscpp tf
+  DEPENDS EIGEN3
 )
 
 ###########
@@ -128,10 +127,10 @@ catkin_package(
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 include_directories(
- include
+  include
   ${catkin_INCLUDE_DIRS}
-# TODO: Check names of system library include directories (Eigen)
-  ${Eigen_INCLUDE_DIRS}
+# TODO: Check names of system library include directories (Eigen3)
+  ${EIGEN3_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
@@ -162,7 +161,7 @@ add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EX
 ## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}
    ${catkin_LIBRARIES}
-   ${Eigen_LIBRARIES}
+#   ${Eigen3_LIBRARIES}
 )
 
 #############

diff --git a/package.xml b/package.xml
index c683d36..3fd3d67 100644 (file)
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>nonsmooth_backstep_controller</name>
-  <version>3.0.0</version>
+  <version>3.1.0</version>
   <description>The nonsmooth_backstep_controller package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
@@ -29,43 +29,60 @@
   <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>Eigen</build_depend>
+  <build_depend>Eigen3</build_depend>
+  <build_depend>arc_odometry</build_depend>
   <build_depend>controller_interface</build_depend>
   <build_depend>effort_controllers</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>message_generation</build_depend>
-  <build_depend>message_runtime</build_depend>
   <build_depend>nav_msgs</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>tf</build_depend>
-  <build_depend>arc_odometry</build_depend>
-  <run_depend>Eigen</run_depend>
-  <run_depend>controller_interface</run_depend>
-  <run_depend>effort_controllers</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>message_generation</run_depend>
-  <run_depend>message_runtime</run_depend>
-  <run_depend>nav_msgs</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>tf</run_depend>
-  <run_depend>arc_odometry</run_depend>
+  <build_export_depend>Eigen3</build_export_depend>
+  <build_export_depend>arc_odometry</build_export_depend>
+  <build_export_depend>controller_interface</build_export_depend>
+  <build_export_depend>effort_controllers</build_export_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>nav_msgs</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>tf</build_export_depend>
+  <exec_depend>Eigen3</exec_depend>
+  <exec_depend>arc_odometry</exec_depend>
+  <exec_depend>controller_interface</exec_depend>
+  <exec_depend>effort_controllers</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>message_runtime</exec_depend>
+  <exec_depend>nav_msgs</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>tf</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->
+
     <controller_interface plugin="${prefix}/nonsmooth_backstep_controller_plugins.xml"/>
+
   </export>
 </package>