Initial port to Melodic.

diff --git a/tatuira_bringup/CMakeLists.txt b/tatuira_bringup/CMakeLists.txt
index e2776ce..ae15541 100644 (file)
--- a/tatuira_bringup/CMakeLists.txt
+++ b/tatuira_bringup/CMakeLists.txt
@@ -10,9 +10,9 @@ project(tatuira_bringup)
 find_package(catkin REQUIRED COMPONENTS
   effort_controllers
   joint_state_controller
-  linearizing_controllers
-  linearizing_controllers_msgs
-  nonsmooth_backstep_controller
+#  linearizing_controllers
+#  linearizing_controllers_msgs
+#  nonsmooth_backstep_controller
 )
 
 ## System dependencies are found with CMake's conventions

diff --git a/tatuira_bringup/package.xml b/tatuira_bringup/package.xml
index e713736..ccb4945 100644 (file)
--- a/tatuira_bringup/package.xml
+++ b/tatuira_bringup/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>tatuira_bringup</name>
-  <version>0.0.0</version>
+  <version>0.1.0</version>
   <description>The tatuira_bringup package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
@@ -43,16 +43,18 @@
   <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>
-
-
+  -->
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->

diff --git a/tatuira_description/package.xml b/tatuira_description/package.xml
index 365591d..9194eaa 100644 (file)
--- a/tatuira_description/package.xml
+++ b/tatuira_description/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>tatuira_description</name>
-  <version>0.0.0</version>
+  <version>0.1.0</version>
   <description>The tatuira_description package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->

diff --git a/tatuira_description/xacro/back.urdf.xacro b/tatuira_description/xacro/back.urdf.xacro
index c342b36..0976ed7 100644 (file)
--- a/tatuira_description/xacro/back.urdf.xacro
+++ b/tatuira_description/xacro/back.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-       <property name="M_PI" value="3.1415926535897931" />
+       <xacro:property name="M_PI" value="3.1415926535897931" />
 
        <xacro:include filename="$(find tatuira_description)/xacro/link_joint.urdf.xacro"/>
        <xacro:include filename="$(find tatuira_description)/xacro/wheel.urdf.xacro"/>
@@ -166,10 +166,9 @@
                <transmission name="${name}_transmission">
                        <type>transmission_interface/SimpleTransmission"</type>
                        <joint name="${name}_rim_joint">
-                               <hardwareInterface>EffortJointInterface</hardwareInterface>
+                               <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
                        </joint>
                        <actuator name="${name}_motor">
-                               <hardwareInterface>EffortJointInterface</hardwareInterface>
                                <mechanicalReduction>1</mechanicalReduction>
                        </actuator>  
                </transmission>

diff --git a/tatuira_description/xacro/front.urdf.xacro b/tatuira_description/xacro/front.urdf.xacro
index 8e2d5c6..4aef18a 100644 (file)
--- a/tatuira_description/xacro/front.urdf.xacro
+++ b/tatuira_description/xacro/front.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0" ?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-       <property name="M_PI" value="3.1415926535897931" />
+       <xacro:property name="M_PI" value="3.1415926535897931" />
 
        <xacro:include filename="$(find tatuira_description)/xacro/link_joint.urdf.xacro"/>
        <xacro:include filename="$(find tatuira_description)/xacro/wheel.urdf.xacro"/>