From ede9f05655c233e55d3d6df6d79336321c0b534a Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 12 Dec 2018 17:30:59 -0200
Subject: [PATCH] Port to Melodic.

---
 CMakeLists.txt | 28 ++++++++++++++++------------
 package.xml    | 43 ++++++++++++++++++++++++++++++-------------
 2 files changed, 46 insertions(+), 25 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9ce2bbc..1c9df4b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,9 +9,8 @@ add_compile_options(-std=c++11)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
   geometry_msgs
-  kdl_parser
   kdl_conversions
-#  orocos_kdl
+  kdl_parser
   roscpp
   std_msgs
   trajectory_msgs
@@ -19,6 +18,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
+find_package(orocos_kdl REQUIRED)
 
 
 ## Uncomment this if the package has a setup.py. This macro ensures
@@ -36,10 +36,10 @@ 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 ...)
@@ -74,7 +74,7 @@ find_package(catkin REQUIRED COMPONENTS
 ## Generate added messages and services with any dependencies listed here
 # generate_messages(
 #   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
+#   geometry_msgs#   std_msgs#   trajectory_msgs
 # )
 
 ################################################
@@ -84,7 +84,7 @@ 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 ...)
@@ -102,15 +102,15 @@ 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
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES trajectory_conversions
-#  CATKIN_DEPENDS geometry_msgs kdl_parser kdl_conversions orocos_kdl roscpp std_msgs trajectory_msgs
-#  DEPENDS system_lib
+#  CATKIN_DEPENDS geometry_msgs kdl_conversions kdl_parser roscpp std_msgs trajectory_msgs
+#  DEPENDS orocos_kdl
 )
 
 ###########
@@ -122,6 +122,8 @@ catkin_package(
 include_directories(
 # include
   ${catkin_INCLUDE_DIRS}
+# TODO: Check names of system library include directories (orocos_kdl)
+  ${orocos_kdl_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
@@ -154,16 +156,18 @@ add_executable(joint_demux src/joint_demux.cpp)
 ## Specify libraries to link a library or executable target against
 target_link_libraries(pose_stamped2joint
    ${catkin_LIBRARIES}
+   ${orocos_kdl_LIBRARIES}
 )
 target_link_libraries(pose_stamped2tf
    ${catkin_LIBRARIES}
+   ${orocos_kdl_LIBRARIES}
 )
 target_link_libraries(joint_demux
    ${catkin_LIBRARIES}
+   ${orocos_kdl_LIBRARIES}
 )
 
 
-
 #############
 ## Install ##
 #############
@@ -179,11 +183,11 @@ target_link_libraries(joint_demux
 # )
 
 ## Mark executables and/or libraries for installation
-#install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
 #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-#)
+# )
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
diff --git a/package.xml b/package.xml
index a60a4a4..816eff2 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>trajectory_conversions</name>
-  <version>0.0.0</version>
+  <version>0.0.1</version>
   <description>The trajectory_conversions package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
@@ -29,32 +29,49 @@
   <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>geometry_msgs</build_depend>
-  <build_depend>kdl_parser</build_depend>
   <build_depend>kdl_conversions</build_depend>
+  <build_depend>kdl_parser</build_depend>
   <build_depend>orocos_kdl</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>trajectory_msgs</build_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>kdl_parser</run_depend>
-  <run_depend>kdl_conversions</run_depend>
-  <run_depend>orocos_kdl</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>trajectory_msgs</run_depend>
+  <build_export_depend>geometry_msgs</build_export_depend>
+  <build_export_depend>kdl_conversions</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>std_msgs</build_export_depend>
+  <build_export_depend>trajectory_msgs</build_export_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>kdl_conversions</exec_depend>
+  <exec_depend>kdl_parser</exec_depend>
+  <exec_depend>orocos_kdl</exec_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>trajectory_msgs</exec_depend>
+
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
-- 
2.12.0