From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Mon, 20 Mar 2023 01:17:36 +0000 (-0300)
Subject: Port to Humble.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=5b8e833b4bdb1a1a45a556bb9b69c16879066b0a;p=trajectory_conversions.git

Port to Humble.
---

diff --git a/CMakeLists.txt b/CMakeLists.txt
index d3e7f35..0722782 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,8 +12,8 @@ find_package(std_msgs REQUIRED)
 find_package(geometry_msgs REQUIRED)
 find_package(tf2_msgs REQUIRED)
 find_package(trajectory_msgs REQUIRED)
-find_package(tf2_kdl REQUIRED)
 find_package(urdf REQUIRED)
+find_package(tf2_kdl REQUIRED)
 find_package(kdl_parser REQUIRED)
 find_package(orocos_kdl REQUIRED)
 
@@ -27,9 +27,10 @@ ament_target_dependencies(
   "rclcpp"
   "std_msgs"
   "geometry_msgs"
+  "tf2_msgs"
   "trajectory_msgs"
-  "tf2_kdl"
   "urdf"
+  "tf2_kdl"
   "kdl_parser"
   "orocos_kdl"
 )
@@ -53,10 +54,11 @@ install(TARGETS pose_stamped2joint pose_stamped2tf
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
   # the following line skips the linter which checks for copyrights
-  # uncomment the line when a copyright and license is not present in all source files
+  # comment the line when a copyright and license is added to all source files
   #set(ament_cmake_copyright_FOUND TRUE)
   # the following line skips cpplint (only works in a git repo)
-  # uncomment the line when this package is not in a git repo
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
   #set(ament_cmake_cpplint_FOUND TRUE)
   ament_lint_auto_find_test_dependencies()
 endif()
diff --git a/package.xml b/package.xml
index 431ef94..6b59087 100644
--- a/package.xml
+++ b/package.xml
@@ -2,10 +2,10 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>trajectory_conversions</name>
-  <version>2.0.0</version>
-  <description>Trajectory Conversions</description>
+  <version>2.1.0</version>
+  <description>Trajectory conversions</description>
   <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
-  <license>GPLv3</license>
+  <license>GPL-3.0-only</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
diff --git a/src/pose_stamped2joint.cpp b/src/pose_stamped2joint.cpp
index 4cc6f0b..ae6d1f3 100644
--- a/src/pose_stamped2joint.cpp
+++ b/src/pose_stamped2joint.cpp
@@ -27,7 +27,7 @@
 #include <std_msgs/msg/string.hpp>
 #include <trajectory_msgs/msg/joint_trajectory_point.hpp>
 #include <kdl/chainiksolverpos_lma.hpp>
-#include <tf2_kdl/tf2_kdl.h>
+#include <tf2_kdl/tf2_kdl.hpp>
 #include <kdl_parser/kdl_parser.hpp>
 
 class Pose2Joint: public rclcpp::Node
@@ -51,10 +51,9 @@ class Pose2Joint: public rclcpp::Node
 
 Pose2Joint::Pose2Joint(const std::string &name,const std::string &root,const std::string &tip,const Eigen::Matrix<double,6,1> &L): Node(name), q_(0)
 {
-	using std::placeholders::_1;
         rclcpp::QoS qos(rclcpp::KeepLast(1));
         qos.transient_local();
-        auto robotDescriptionSubscriber_=create_subscription<std_msgs::msg::String>("robot_description",qos,std::bind(&Pose2Joint::robotDescriptionCB,this,_1));
+        auto robotDescriptionSubscriber_=create_subscription<std_msgs::msg::String>("robot_description",qos,std::bind(&Pose2Joint::robotDescriptionCB,this,std::placeholders::_1));
         while(robotDescription_.empty())
         {
                 RCLCPP_WARN_STREAM_SKIPFIRST_THROTTLE(get_logger(),*get_clock(),1000,"Waiting for robot model on /robot_description.");
@@ -69,7 +68,7 @@ Pose2Joint::Pose2Joint(const std::string &name,const std::string &root,const std
 	q_.resize(chain_.getNrOfJoints());
         
 	jointTrajPointPub_=create_publisher<trajectory_msgs::msg::JointTrajectoryPoint>("joint_trajectory_point",10);
-	poseSub_=create_subscription<geometry_msgs::msg::PoseStamped>("/pose",10,std::bind(&Pose2Joint::poseCB,this,_1));
+	poseSub_=create_subscription<geometry_msgs::msg::PoseStamped>("/pose",10,std::bind(&Pose2Joint::poseCB,this,std::placeholders::_1));
 }
 
 void Pose2Joint::poseCB(const geometry_msgs::msg::PoseStamped::SharedPtr poseStamped)
diff --git a/src/pose_stamped2tf.cpp b/src/pose_stamped2tf.cpp
index 03d4c5f..0834e7f 100644
--- a/src/pose_stamped2tf.cpp
+++ b/src/pose_stamped2tf.cpp
@@ -38,8 +38,7 @@ class PoseStampedToTf: public rclcpp::Node
 PoseStampedToTf::PoseStampedToTf(const char *node_name,const char *child_frame_id): Node(node_name)
 {
 	child_frame_id_=child_frame_id;
-	using std::placeholders::_1;
-	poseSubscriber_=create_subscription<geometry_msgs::msg::PoseStamped>("pose",10,std::bind(&PoseStampedToTf::poseStampedCB,this,_1));
+	poseSubscriber_=create_subscription<geometry_msgs::msg::PoseStamped>("pose",10,std::bind(&PoseStampedToTf::poseStampedCB,this,std::placeholders::_1));
 	tfPublisher_=create_publisher<tf2_msgs::msg::TFMessage>("/tf",10);
 }