Port to Melodic.

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2e7a3be..3b22625 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(computed_torque_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)
@@ -13,16 +13,15 @@ find_package(catkin REQUIRED COMPONENTS
   controller_manager
   kdl_parser
 #  orocos_kdl
+  roscpp
   trajectory_msgs
   urdf
 )
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
-#find_package(cmake_modules REQUIRED)
-#find_package(Eigen REQUIRED)
-#find_package(orocos_kdl REQUIRED)
-
+find_package(cmake_modules REQUIRED)
+find_package(orocos_kdl REQUIRED)
 
 
 ## Uncomment this if the package has a setup.py. This macro ensures
@@ -40,10 +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"
-##   * 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 ...)
@@ -88,7 +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:
-##   * 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 ...)
@@ -106,15 +105,15 @@ 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 computed_torque_controller
-  CATKIN_DEPENDS controller_interface controller_manager kdl_parser trajectory_msgs urdf
-#  DEPENDS Eigen orocos_kdl
+  CATKIN_DEPENDS controller_interface controller_manager kdl_parser roscpp trajectory_msgs urdf
+#  DEPENDS orocos_kdl
 )
 
 ###########
@@ -126,8 +125,6 @@ catkin_package(
 include_directories(
  include
   ${catkin_INCLUDE_DIRS}
-# TODO: Check names of system library include directories (Eigen)
-  ${Eigen_INCLUDE_DIRS}
 #  ${orocos_kdl_INCLUDE_DIRS}
 )
 
@@ -144,7 +141,7 @@ add_library(${PROJECT_NAME}
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/ct_node.cpp)
+# add_executable(${PROJECT_NAME}_node src/computed_torque_controller_node.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -157,9 +154,8 @@ add_library(${PROJECT_NAME}
 # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
- target_link_libraries(${PROJECT_NAME}
+target_link_libraries(${PROJECT_NAME}
    ${catkin_LIBRARIES}
-   ${Eigen_LIBRARIES}
 #   ${orocos_kdl_LIBRARIES}
 )
 
@@ -203,7 +199,7 @@ install(TARGETS ${PROJECT_NAME}
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_ct.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_computed_torque_controller.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()

diff --git a/package.xml b/package.xml
index 4a1cd29..504f753 100644 (file)
--- a/package.xml
+++ b/package.xml
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>computed_torque_controller</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>The computed_torque_controller package</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
@@ -16,53 +16,68 @@
   <license>GPLv3</license>
 
 
-  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
   <!-- <url type="website">http://wiki.ros.org/computed_torque_controller</url> -->
 
 
-  <!-- Author tags are optional, mutiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- 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>
 
-  <!-- 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>controller_manager</build_depend>
+  <build_depend>cmake_modules</build_depend>
   <build_depend>controller_interface</build_depend>
-  <build_depend>orocos_kdl</build_depend>
+  <build_depend>controller_manager</build_depend>
   <build_depend>kdl_parser</build_depend>
+  <build_depend>orocos_kdl</build_depend>
+  <build_depend>roscpp</build_depend>
   <build_depend>trajectory_msgs</build_depend>
   <build_depend>urdf</build_depend>
-  <build_depend>cmake_modules</build_depend>
-  
-  <run_depend>controller_manager</run_depend>
-  <run_depend>controller_interface</run_depend>
-  <build_depend>orocos_kdl</build_depend>
-  <run_depend>urdf</run_depend>
-  <run_depend>kdl_parser</run_depend>
-  <run_depend>trajectory_msgs</run_depend>
+  <build_export_depend>cmake_modules</build_export_depend>
+  <build_export_depend>controller_interface</build_export_depend>
+  <build_export_depend>controller_manager</build_export_depend>
+  <build_export_depend>kdl_parser</build_export_depend>
+  <build_export_depend>orocos_kdl</build_export_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>trajectory_msgs</build_export_depend>
+  <build_export_depend>urdf</build_export_depend>
+  <exec_depend>cmake_modules</exec_depend>
+  <exec_depend>controller_interface</exec_depend>
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>kdl_parser</exec_depend>
+  <exec_depend>orocos_kdl</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>trajectory_msgs</exec_depend>
+  <exec_depend>urdf</exec_depend>
 
-  <!-- The export tag contains other, unspecified, tags -->
-  <!-- <export> -->
-    <!-- You can specify that this package is a metapackage here: -->
-    <!-- <metapackage/> -->
 
-    <!-- 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}/computed_torque_controller_plugins.xml"/>
   </export>
 </package>