Port to Noetic.

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 38c6345..13cf13c 100644 (file)
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(nonsmooth_backstep_controller)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -13,9 +13,9 @@ find_package(catkin REQUIRED COMPONENTS
   effort_controllers
   geometry_msgs
   nav_msgs
+  nonsmooth_backstep_controller_msgs
   roscpp
   tf
-  nonsmooth_backstep_controller_msgs
 )
 
 ## System dependencies are found with CMake's conventions
@@ -76,10 +76,8 @@ find_package(Eigen3 REQUIRED)
 ## Generate added messages and services with any dependencies listed here
 # generate_messages(
 #   DEPENDENCIES
-#   std_msgs
-#   geometry_msgs
-#   nav_msgs
-#)
+#   geometry_msgs#   nav_msgs#   nonsmooth_backstep_controller_msgs
+# )
 
 ################################################
 ## Declare ROS dynamic reconfigure parameters ##
@@ -113,7 +111,7 @@ find_package(Eigen3 REQUIRED)
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES nonsmooth_backstep_controller
-  CATKIN_DEPENDS arc_odometry controller_interface effort_controllers geometry_msgs nav_msgs roscpp tf nonsmooth_backstep_controller_msgs
+  CATKIN_DEPENDS arc_odometry controller_interface effort_controllers geometry_msgs nav_msgs nonsmooth_backstep_controller_msgs roscpp tf
   DEPENDS EIGEN3
 )
 
@@ -124,7 +122,7 @@ 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 (Eigen3)
   ${EIGEN3_INCLUDE_DIRS}
@@ -138,7 +136,7 @@ add_library(${PROJECT_NAME}
 ## Add cmake target dependencies of the library
 ## as an example, code may need to be generated before libraries
 ## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
@@ -153,7 +151,7 @@ add_library(${PROJECT_NAME}
 
 ## Add cmake target dependencies of the executable
 ## same as for the library above
-add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}
@@ -170,16 +168,23 @@ target_link_libraries(${PROJECT_NAME}
 
 ## Mark executable scripts (Python etc.) for installation
 ## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
+# catkin_install_python(PROGRAMS
 #   scripts/my_python_script
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
-## Mark executables and/or libraries for installation
-install(TARGETS ${PROJECT_NAME}
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+ install(TARGETS ${PROJECT_NAME}
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
 )
 
 ## Mark cpp header files for installation

diff --git a/package.xml b/package.xml
index 0a37b3c..e65bedf 100644 (file)
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>nonsmooth_backstep_controller</name>
-  <version>3.1.0</version>
+  <version>3.2.0</version>
   <description>The nonsmooth_backstep_controller package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->