From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Thu, 10 Oct 2019 04:46:55 +0000 (-0300)
Subject: Port to Melodic.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=6e4021b23b657001f7fe3465e66a65904514d3e4;p=q2d.git

Port to Melodic.
---

diff --git a/q2d_bringup/CMakeLists.txt b/q2d_bringup/CMakeLists.txt
index c361cb8..8f9369d 100644
--- a/q2d_bringup/CMakeLists.txt
+++ b/q2d_bringup/CMakeLists.txt
@@ -31,10 +31,10 @@ 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 ...)
@@ -79,7 +79,7 @@ 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 ...)
@@ -97,7 +97,7 @@ 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
diff --git a/q2d_bringup/package.xml b/q2d_bringup/package.xml
index f667209..0bdfda4 100644
--- a/q2d_bringup/package.xml
+++ b/q2d_bringup/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>q2d_bringup</name>
-  <version>0.0.0</version>
+  <version>2.0.0</version>
   <description>The q2d_bringup package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
@@ -9,7 +9,6 @@
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
 
-
   <!-- One license tag required, multiple allowed, one license per tag -->
   <!-- Commonly used license strings: -->
   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
@@ -29,22 +28,33 @@
   <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>effort_controllers</build_depend>
   <build_depend>joint_state_controller</build_depend>
-  <run_depend>effort_controllers</run_depend>
-  <run_depend>joint_state_controller</run_depend>
+  <build_export_depend>effort_controllers</build_export_depend>
+  <build_export_depend>joint_state_controller</build_export_depend>
+  <exec_depend>effort_controllers</exec_depend>
+  <exec_depend>joint_state_controller</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
diff --git a/q2d_description/CMakeLists.txt b/q2d_description/CMakeLists.txt
index 9c17b38..9f52322 100644
--- a/q2d_description/CMakeLists.txt
+++ b/q2d_description/CMakeLists.txt
@@ -28,10 +28,10 @@ find_package(catkin REQUIRED)
 ##   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 ...)
@@ -76,7 +76,7 @@ find_package(catkin REQUIRED)
 ## 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 ...)
@@ -94,7 +94,7 @@ find_package(catkin REQUIRED)
 ###################################
 ## 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
diff --git a/q2d_description/package.xml b/q2d_description/package.xml
index 9661aa7..00b1f1e 100644
--- a/q2d_description/package.xml
+++ b/q2d_description/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>q2d_description</name>
-  <version>0.0.0</version>
+  <version>2.0.0</version>
   <description>The q2d_description package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
@@ -31,17 +31,26 @@
   <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>
 
 
diff --git a/q2d_description/urdf/q2d.urdf b/q2d_description/urdf/q2d.urdf
index 25ec90a..e05403a 100644
--- a/q2d_description/urdf/q2d.urdf
+++ b/q2d_description/urdf/q2d.urdf
@@ -173,7 +173,7 @@
 	<transmission name="shoulder_active_transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="shoulder_active_joint">
-			<hardwareInterface>EffortJointInterface</hardwareInterface>
+			<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 		</joint>
 		<actuator name="shoulder_motor">
 			<mechanicalReduction>1</mechanicalReduction>
@@ -183,7 +183,7 @@
 	<transmission name="elbow_active_transmission">
 		<type>transmission_interface/SimpleTransmission</type>
 		<joint name="elbow_active_joint">
-			<hardwareInterface>EffortJointInterface</hardwareInterface>
+			<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
 		</joint>
 		<actuator name="elbow_motor">
 			<mechanicalReduction>1</mechanicalReduction>
diff --git a/q2d_teleop/CMakeLists.txt b/q2d_teleop/CMakeLists.txt
index 240779a..884a661 100644
--- a/q2d_teleop/CMakeLists.txt
+++ b/q2d_teleop/CMakeLists.txt
@@ -2,24 +2,24 @@ cmake_minimum_required(VERSION 2.8.3)
 project(q2d_teleop)
 
 ## 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)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   cmake_modules
+  geometry_msgs
   kdl_parser
   roscpp
   sensor_msgs
-  geometry_msgs
   std_msgs
   urdf
 )
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
-find_package(Eigen REQUIRED)
+find_package(Eigen3 REQUIRED)
 find_package(orocos_kdl REQUIRED)
 
 
@@ -38,10 +38,10 @@ find_package(orocos_kdl REQUIRED)
 ##   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 ...)
@@ -76,7 +76,7 @@ find_package(orocos_kdl REQUIRED)
 ## Generate added messages and services with any dependencies listed here
 # generate_messages(
 #   DEPENDENCIES
-#   sensor_msgs geometry_msgs #   std_msgs
+#   geometry_msgs#   sensor_msgs#   std_msgs
 # )
 
 ################################################
@@ -86,7 +86,7 @@ find_package(orocos_kdl REQUIRED)
 ## 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 ...)
@@ -104,15 +104,15 @@ find_package(orocos_kdl REQUIRED)
 ###################################
 ## 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 q2d_teleop
-#  CATKIN_DEPENDS cmake_modules kdl_parser roscpp sensor_msgs goemetry_msgs std_msgs urdf
-#  DEPENDS Eigen
+#  CATKIN_DEPENDS cmake_modules geometry_msgs kdl_parser orocos_kdl roscpp sensor_msgs std_msgs urdf
+#  DEPENDS system_lib
 )
 
 ###########
@@ -125,7 +125,7 @@ include_directories(
 # include
   ${catkin_INCLUDE_DIRS}
 # TODO: Check names of system library include directories (Eigen)
-  ${Eigen_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
   ${orocos_kdl_INCLUDE_DIRS}
 )
 
@@ -158,13 +158,13 @@ add_executable(q2d_teleop_rviz src/q2d_teleop_rviz.cpp)
 ## Specify libraries to link a library or executable target against
 target_link_libraries(q2d_teleop_tablet
    ${catkin_LIBRARIES}
-   ${Eigen_LIBRARIES}
+#   ${Eigen3_LIBRARIES}
    ${orocos_kdl_LIBRARIES}
 )
 
 target_link_libraries(q2d_teleop_rviz
    ${catkin_LIBRARIES}
-   ${Eigen_LIBRARIES}
+#   ${Eigen3_LIBRARIES}
    ${orocos_kdl_LIBRARIES}
 )
 
diff --git a/q2d_teleop/package.xml b/q2d_teleop/package.xml
index dee9698..ea79ddb 100644
--- a/q2d_teleop/package.xml
+++ b/q2d_teleop/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>q2d_teleop</name>
-  <version>0.0.0</version>
+  <version>2.0.0</version>
   <description>The q2d_teleop package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
@@ -9,7 +9,6 @@
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="fetter@ece.ufrgs.br">Walter Fetter Lages</maintainer>
 
-
   <!-- One license tag required, multiple allowed, one license per tag -->
   <!-- Commonly used license strings: -->
   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
@@ -29,36 +28,54 @@
   <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>Eigen</build_depend>
   <build_depend>cmake_modules</build_depend>
+  <build_depend>geometry_msgs</build_depend>
   <build_depend>kdl_parser</build_depend>
   <build_depend>orocos_kdl</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>sensor_msgs</build_depend>
-  <build_depend>geometry_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>urdf</build_depend>
-  <run_depend>Eigen</run_depend>
-  <run_depend>cmake_modules</run_depend>
-  <run_depend>kdl_parser</run_depend>
-  <run_depend>orocos_kdl</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>urdf</run_depend>
+  <build_export_depend>Eigen</build_export_depend>
+  <build_export_depend>cmake_modules</build_export_depend>
+  <build_export_depend>geometry_msgs</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>sensor_msgs</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>urdf</build_export_depend>
+  <exec_depend>Eigen</exec_depend>
+  <exec_depend>cmake_modules</exec_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>kdl_parser</exec_depend>
+  <exec_depend>orocos_kdl</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>urdf</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->