From b02b63cb680d3ec5465f5ad834a9c41d07976015 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 15 Jul 2020 22:31:19 -0300
Subject: [PATCH] Port to Noetic.

---
 CMakeLists.txt | 29 +++++++++++++++++++----------
 package.xml    |  6 +++++-
 2 files changed, 24 insertions(+), 11 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3b22625..b331053 100644
--- 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(computed_torque_controller)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -12,7 +12,6 @@ find_package(catkin REQUIRED COMPONENTS
   controller_interface
   controller_manager
   kdl_parser
-#  orocos_kdl
   roscpp
   trajectory_msgs
   urdf
@@ -20,8 +19,8 @@ find_package(catkin REQUIRED COMPONENTS
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
-find_package(cmake_modules REQUIRED)
 find_package(orocos_kdl REQUIRED)
+find_package(Eigen3 REQUIRED)
 
 
 ## Uncomment this if the package has a setup.py. This macro ensures
@@ -112,8 +111,8 @@ find_package(orocos_kdl REQUIRED)
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES computed_torque_controller
-  CATKIN_DEPENDS controller_interface controller_manager kdl_parser roscpp trajectory_msgs urdf
-#  DEPENDS orocos_kdl
+  CATKIN_DEPENDS cmake_modules controller_interface controller_manager kdl_parser roscpp trajectory_msgs urdf
+#  DEPENDS orocos_kdl Eigen3
 )
 
 ###########
@@ -125,7 +124,9 @@ catkin_package(
 include_directories(
  include
   ${catkin_INCLUDE_DIRS}
-#  ${orocos_kdl_INCLUDE_DIRS}
+# TODO: Check names of system library include directories (orocos_kdl, Eigen3)
+  ${orocos_kdl_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
@@ -156,7 +157,8 @@ add_library(${PROJECT_NAME}
 ## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}
    ${catkin_LIBRARIES}
-#   ${orocos_kdl_LIBRARIES}
+   ${orocos_kdl_LIBRARIES}
+#   ${EIGEN3_LIBRARIES}
 )
 
 #############
@@ -168,16 +170,23 @@ 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
+## 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 504f753..004c57a 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>computed_torque_controller</name>
-  <version>3.0.1</version>
+  <version>3.1.0</version>
   <description>The computed_torque_controller 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: -->
@@ -49,6 +50,7 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>Eigen3</build_depend>
   <build_depend>cmake_modules</build_depend>
   <build_depend>controller_interface</build_depend>
   <build_depend>controller_manager</build_depend>
@@ -57,6 +59,7 @@
   <build_depend>roscpp</build_depend>
   <build_depend>trajectory_msgs</build_depend>
   <build_depend>urdf</build_depend>
+  <build_export_depend>Eigen3</build_export_depend>
   <build_export_depend>cmake_modules</build_export_depend>
   <build_export_depend>controller_interface</build_export_depend>
   <build_export_depend>controller_manager</build_export_depend>
@@ -65,6 +68,7 @@
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>trajectory_msgs</build_export_depend>
   <build_export_depend>urdf</build_export_depend>
+  <exec_depend>Eigen3</exec_depend>
   <exec_depend>cmake_modules</exec_depend>
   <exec_depend>controller_interface</exec_depend>
   <exec_depend>controller_manager</exec_depend>
-- 
2.12.0