fix compile errors

.rosinstall

@@ -1,3 +1,3 @@
-- git:
-    local-name: choreonoid_sdfloader_plugin
-    uri: https://github.com/fkanehiro/choreonoid-sdfloader-plugin.git
+#- git:
+#    local-name: choreonoid_sdfloader_plugin
+#    uri: https://github.com/fkanehiro/choreonoid-sdfloader-plugin.git

.travis.yml

@@ -8,9 +8,9 @@ notifications:
     on_success: change
     on_failure: always
 sudo: required
-dist: trusty
+dist: xenial
 before_install:
-  - export ROS_DISTRO=indigo
+  - export ROS_DISTRO=kinetic
   - export CI_SOURCE_PATH=$(pwd)
   - export REPOSITORY_NAME=${PWD##*/}
   - echo "Testing branch $TRAVIS_BRANCH of $REPOSITORY_NAME"
@@ -34,14 +34,14 @@ install:
   - catkin init
   - catkin config --merge-devel --install
   - rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO -y
-  - cd ~/
-  - git clone https://github.com/fkanehiro/simtrans.git
-  - cd simtrans
-  - sudo -H pip install -r requirements.txt
-  - sudo python setup.py install
-  - cd ../
+#  - cd ~/
+#  - git clone https://github.com/fkanehiro/simtrans.git
+#  - cd simtrans
+#  - sudo -H pip install -r requirements.txt
+#  - sudo python setup.py install
+#  - cd ../
 before_script:
   - source /opt/ros/$ROS_DISTRO/setup.bash  
 script:
   - cd ~/ros/ws_$REPOSITORY_NAME
-  - catkin build -p 1 choreonoid_ros_pkg
+  - catkin build --interleave -p 1 choreonoid_ros_pkg

choreonoid_plugins/src/BodyRosHighgainControllerItem.cpp

@@ -92,7 +92,7 @@ void BodyRosHighgainControllerItem::calculate_hg_parameter(
 
   i = joint->jointId();
 
-  if (isnan(qref)) {
+  if (std::isnan(qref)) {
     ROS_ERROR("joint id %03d (%s): joint angle setting is NaN", i, joint->name().c_str());
     return;
   } else if (qref < joint->q_lower() || qref > joint->q_upper()) {
@@ -107,7 +107,7 @@ void BodyRosHighgainControllerItem::calculate_hg_parameter(
     dq = (qref - joint->q()) / timeStep_;
   }
 
-  if (isnan(dq)) {
+  if (std::isnan(dq)) {
     ROS_ERROR("joint id %03d (%s): calculate joint velocity, result is NaN", i, joint->name().c_str());
     return;
   }
@@ -118,7 +118,7 @@ void BodyRosHighgainControllerItem::calculate_hg_parameter(
     ddq = dq / timeStep_;
   }
 
-  if (isnan(ddq)) {
+  if (std::isnan(ddq)) {
     ROS_ERROR("joint id %03d (%s): calculate joint acceleration, result is NaN", i, joint->name().c_str());
     return;
   }

choreonoid_plugins/src/BodyRosTorqueControllerItem.cpp

@@ -236,7 +236,7 @@ void BodyRosTorqueControllerItem::pd_control(Link* joint, double q_ref)
   i = joint->jointId();
   q = joint->q();
 
-  if (isnan(q_ref)) {
+  if (std::isnan(q_ref)) {
     ROS_ERROR("joint id %03d (%s): joint angle setting is NaN", joint->jointId(), joint->name().c_str());
     goto done;
   } else if (q_ref < joint->q_lower() || q_ref > joint->q_upper()) {
@@ -247,21 +247,21 @@ void BodyRosTorqueControllerItem::pd_control(Link* joint, double q_ref)
 
   dq_ref = (q_ref - qref_old_[i]) / timeStep_;
 
-  if (isnan(dq_ref)) {
+  if (std::isnan(dq_ref)) {
     ROS_ERROR("joint id %03d (%s): calculate dq_ref, result is NaN", joint->jointId(), joint->name().c_str());
     goto done;
   }
 
   dq = (q - q_old_[i]) / timeStep_;
 
-  if (isnan(dq)) {
+  if (std::isnan(dq)) {
     ROS_ERROR("joint id %03d (%s): calculate dq, result is NaN", joint->jointId(), joint->name().c_str());
     goto done;
   }
 
   u = (q_ref - q) * pgain[i] + (dq_ref - dq) * dgain[i];
 
-  if (! isnan(u)) {
+  if (! std::isnan(u)) {
     if (u < u_lower[i]) {
       ROS_DEBUG("joint id %03d (%s): calculate u, result is over lower limt. (adjust %f -> %f)",
                 joint->jointId(), joint->name().c_str(), u, u_lower[i]);
@@ -317,7 +317,7 @@ void BodyRosTorqueControllerItem::apply_message(Link* joint, size_t idx, traject
   } else {
     u = point->effort[idx];
 
-    if (! isnan(u)) {
+    if (! std::isnan(u)) {
       joint->u() = u;
     } else {
       ROS_ERROR("Effort setting is NaN (%s)", joint->name().c_str());

choreonoid_plugins/src/WorldRosItem.cpp

@@ -14,6 +14,7 @@
 #include <cnoid/MessageView>
 #include <cnoid/ItemTreeView>
 #include <cnoid/EigenUtil>
+#include <fstream>
 
 using namespace cnoid;
 
@@ -545,20 +546,14 @@ bool WorldRosItem::spawnModel(gazebo_msgs::SpawnModel::Request &req,
     Load model file.
    */
 
-  char tmpfname[L_tmpnam];
+  boost::filesystem::path temp = boost::filesystem::unique_path();
   bool is_loaded = false;
-
-  memset(tmpfname, 0x00, sizeof(tmpfname));
-  strncpy(tmpfname, "cnoid_ros_pkgXXXXXX", sizeof(tmpfname));
-
-  if (mkstemp(tmpfname) != -1) {
-    std::ofstream ofs(tmpfname);
-    ofs << model_xml << std::endl;
-    ofs.flush();
-    ofs.close();
-    is_loaded = body->loadModelFile(tmpfname);
-    remove(tmpfname);
-  }
+  std::ofstream ofs(temp.native());
+  ofs << model_xml << std::endl;
+  ofs.flush();
+  ofs.close();
+  is_loaded = body->loadModelFile(temp.native());
+  remove(temp.native().c_str());
 
   if (! is_loaded) {
     return false;

choreonoid_ros/package.xml

@@ -85,9 +85,11 @@ following libraries:
   <build_depend>cmake</build_depend>
   <build_depend>boost</build_depend>
   <build_depend>eigen</build_depend>
-  <build_depend>libqt4-dev</build_depend>
-  <build_depend>libqt4-opengl-dev</build_depend>
-  <build_depend>qt4-dev-tools</build_depend>
+  <build_depend>qtbase5-dev</build_depend>
+  <build_depend>libqt5-opengl-dev</build_depend>
+  <build_depend>libqt5x11extras5-dev</build_depend>
+  <build_depend>qt5-qmake</build_depend>
+  <build_depend>assimp-dev</build_depend>
   <build_depend>libglew-dev</build_depend>
   <build_depend>yaml</build_depend>
   <build_depend>zlib</build_depend>
@@ -108,8 +110,12 @@ following libraries:
   <build_depend>mk</build_depend>
 
   <run_depend>yaml</run_depend>
-  <run_depend>libqt4</run_depend>
-  <run_depend>libqt4-opengl</run_depend>
+  <run_depend>libqt5-core</run_depend>
+  <run_depend>libqt5-gui</run_depend>
+  <run_depend>libqt5-widgets</run_depend>
+  <run_depend>libqt5-network</run_depend>
+  <run_depend>libqt5-opengl</run_depend>
+  <run_depend>assimp</run_depend>
 
   <export>
   </export>

choreonoid_ros/setting_build_args.sh

@@ -9,12 +9,12 @@
 # for cmake
 _CNOID_ROS_PKG_BUILD_CNOID_USER_CMAKE_ARGS=""
 _CNOID_ROS_PKG_BUILD_CNOID_CONSTANT_CMAKE_ARGS="
-  -DENABLE_INSTALL_PATH=ON
+  -DENABLE_INSTALL_RPATH=ON
   -DENABLE_PYTHON=ON
   "
 
 # for make
-_CNOID_ROS_PKG_BUILD_CNOID_MAKE_ARGS="-j 4"
+_CNOID_ROS_PKG_BUILD_CNOID_MAKE_ARGS="-j$(nproc)"
 
 #
 # Main.
@@ -45,7 +45,7 @@ case ${1} in
     ;;
 
   *)
-    echo "usage:" `basename ${0}` "[ cmake | make ]"  
+    echo "usage:" `basename ${0}` "[ cmake | make ]"
     exit 1
     ;;
 esac

choreonoid_ros_pkg/package.xml

@@ -18,12 +18,16 @@
 
   <build_depend>choreonoid_ros</build_depend>
   <build_depend>choreonoid_plugins</build_depend>
+  <!--
   <build_depend>jvrc_models</build_depend>
+  -->
 
   <run_depend>choreonoid_ros</run_depend>
   <run_depend>choreonoid_plugins</run_depend>
+  <!--
   <run_depend>jvrc_models</run_depend>
-
+  -->
+
   <export>
   </export>
 </package>