From cc80e2c357ed497d475ba6e52a370c3c5e1f1c94 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Thu, 16 Jul 2020 02:15:17 -0300
Subject: [PATCH] Port to Noetic.

---
 CMakeLists.txt | 31 ++++++++++++++++++++-----------
 package.xml    |  8 +++++++-
 2 files changed, 27 insertions(+), 12 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index fafbdee..ce08ca7 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(pid_plus_gravity_controller)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -11,17 +11,18 @@ find_package(catkin REQUIRED COMPONENTS
   cmake_modules
   control_msgs
   controller_interface
+  controller_manager
   kdl_parser
-#  orocos_kdl
+  roscpp
   trajectory_msgs
   urdf
 )
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
-find_package(cmake_modules REQUIRED)
 find_package(orocos_kdl REQUIRED)
 
+
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
@@ -110,7 +111,7 @@ find_package(orocos_kdl REQUIRED)
 catkin_package(
 #  INCLUDE_DIRS include
   LIBRARIES pid_plus_gravity_controller
-  CATKIN_DEPENDS cmake_modules control_msgs controller_interface kdl_parser trajectory_msgs urdf
+  CATKIN_DEPENDS cmake_modules control_msgs controller_interface controller_manager kdl_parser roscpp trajectory_msgs urdf
   DEPENDS orocos_kdl
 )
 
@@ -123,6 +124,7 @@ catkin_package(
 include_directories(
  include
   ${catkin_INCLUDE_DIRS}
+# TODO: Check names of system library include directories (orocos_kdl)
   ${orocos_kdl_INCLUDE_DIRS}
 )
 
@@ -133,7 +135,7 @@ 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
+## einther from message generation or dynamic reconfigure
 # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 ## Declare a C++ executable
@@ -166,24 +168,31 @@ 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
-install(DIRECTORY include/${PROJECT_NAME}/
-   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 #   FILES_MATCHING PATTERN "*.h"
 #   PATTERN ".svn" EXCLUDE
-)
+# )
 
 ## Mark other files for installation (e.g. launch and bag files, etc.)
 # install(FILES
diff --git a/package.xml b/package.xml
index fab1600..62aa0a4 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>pid_plus_gravity_controller</name>
-  <version>1.0.1</version>
+  <version>1.1.0</version>
   <description>The pid_plus_gravity_controller package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
@@ -53,22 +53,28 @@
   <build_depend>cmake_modules</build_depend>
   <build_depend>control_msgs</build_depend>
   <build_depend>controller_interface</build_depend>
+  <build_depend>controller_manager</build_depend>
   <build_depend>kdl_parser</build_depend>
   <build_depend>orocos_kdl</build_depend>
+  <build_depend>roscpp</build_depend>
   <build_depend>trajectory_msgs</build_depend>
   <build_depend>urdf</build_depend>
   <build_export_depend>cmake_modules</build_export_depend>
   <build_export_depend>control_msgs</build_export_depend>
   <build_export_depend>controller_interface</build_export_depend>
+  <build_export_depend>controller_manager</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>trajectory_msgs</build_export_depend>
   <build_export_depend>urdf</build_export_depend>
   <exec_depend>cmake_modules</exec_depend>
   <exec_depend>control_msgs</exec_depend>
   <exec_depend>controller_interface</exec_depend>
+  <exec_depend>controller_manager</exec_depend>
   <exec_depend>kdl_parser</exec_depend>
   <exec_depend>orocos_kdl</exec_depend>
+  <exec_depend>roscpp</exec_depend>
   <exec_depend>trajectory_msgs</exec_depend>
   <exec_depend>urdf</exec_depend>
 
-- 
2.12.0