From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 9 Sep 2020 07:30:18 +0000 (-0300)
Subject: Port to Noetic.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=458c66c07724a6e281a74337154b3e48b99ae908;p=tatuira.git

Port to Noetic.
---

diff --git a/tatuira_bringup/CMakeLists.txt b/tatuira_bringup/CMakeLists.txt
index 1444901..7ca7ed7 100644
--- a/tatuira_bringup/CMakeLists.txt
+++ b/tatuira_bringup/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(tatuira_bringup)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -7,11 +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
-#  joint_state_controller
-#  tatuira_description
-#  effort_controllers
-#)
+find_package(catkin REQUIRED COMPONENTS
+  effort_controllers
+  joint_state_controller
+  tatuira_description
+)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
@@ -105,7 +105,7 @@ project(tatuira_bringup)
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES tatuira_bringup
-#  CATKIN_DEPENDS joint_state_controller tatuira_description voltage_controllers
+#  CATKIN_DEPENDS effort_controllers joint_state_controller tatuira_description
 #  DEPENDS system_lib
 )
 
@@ -115,10 +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}
@@ -159,16 +159,23 @@ catkin_package(
 
 ## 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} ${PROJECT_NAME}_node
+## 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/tatuira_bringup/package.xml b/tatuira_bringup/package.xml
index 26e60c7..dad9605 100644
--- a/tatuira_bringup/package.xml
+++ b/tatuira_bringup/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>tatuira_bringup</name>
-  <version>0.1.0</version>
+  <version>0.2.0</version>
   <description>The tatuira_bringup package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
@@ -28,6 +28,7 @@
   <!-- <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 -->
   <!-- Dependencies can be catkin packages or system dependencies -->
   <!-- Examples: -->
@@ -49,9 +50,15 @@
   <!-- 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>tatuira_description</build_depend>
+  <build_export_depend>effort_controllers</build_export_depend>
+  <build_export_depend>joint_state_controller</build_export_depend>
+  <build_export_depend>tatuira_description</build_export_depend>
+  <exec_depend>effort_controllers</exec_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 -->
diff --git a/tatuira_description/CMakeLists.txt b/tatuira_description/CMakeLists.txt
index 2701573..6b4ea3d 100644
--- a/tatuira_description/CMakeLists.txt
+++ b/tatuira_description/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(tatuira_description)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -7,12 +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 COMPONENTS
-#  gazebo
-#  gazebo_ros_control
-#  rviz
-#  xacro
-#)
+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)
@@ -106,7 +106,7 @@ project(tatuira_description)
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES tatuira_description
-#  CATKIN_DEPENDS gazebo gazebo_ros_control gazebo_ros_electrical rviz xacro
+#  CATKIN_DEPENDS gazebo gazebo_ros_control rviz xacro
 #  DEPENDS system_lib
 )
 
@@ -118,7 +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
@@ -160,16 +160,23 @@ include_directories(
 
 ## 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} ${PROJECT_NAME}_node
+## 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/tatuira_description/launch/display.launch b/tatuira_description/launch/display.launch
index 33699a9..4b164b8 100644
--- a/tatuira_description/launch/display.launch
+++ b/tatuira_description/launch/display.launch
@@ -4,10 +4,10 @@
 	<node pkg="tf2_ros" type="static_transform_publisher" 
 		name="q2d_origin_publisher"
 		args="0 0 0 0 0 0 1 map origin_link" />
-	<node name="joint_state_publisher" pkg="joint_state_publisher"
-		type="joint_state_publisher" args="_use_gui:=$(arg use_gui)" />
+	<node if="$(arg use_gui)" name="joint_state_publisher" pkg="joint_state_publisher_gui"
+		type="joint_state_publisher_gui" />
 	<node name="robot_state_publisher" pkg="robot_state_publisher"
-		type="state_publisher" />
+		type="robot_state_publisher" />
 	<node name="rviz" pkg="rviz" type="rviz"
 		args="-d $(find tatuira_description)/rviz/display.rviz"
 		required="true" />
diff --git a/tatuira_description/package.xml b/tatuira_description/package.xml
index 1680a74..80b3dae 100644
--- a/tatuira_description/package.xml
+++ b/tatuira_description/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>tatuira_description</name>
-  <version>0.1.0</version>
+  <version>0.2.0</version>
   <description>The tatuira_description package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
@@ -51,6 +51,14 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>gazebo</build_depend>
+  <build_depend>gazebo_ros_control</build_depend>
+  <build_depend>rviz</build_depend>
+  <build_depend>xacro</build_depend>
+  <build_export_depend>gazebo</build_export_depend>
+  <build_export_depend>gazebo_ros_control</build_export_depend>
+  <build_export_depend>rviz</build_export_depend>
+  <build_export_depend>xacro</build_export_depend>
   <exec_depend>gazebo</exec_depend>
   <exec_depend>gazebo_ros_control</exec_depend>
   <exec_depend>rviz</exec_depend>