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cleanup urdfdom compatibility #27

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merged 2 commits into from
Jan 30, 2017
Merged

cleanup urdfdom compatibility #27

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37398e7
cleanup urdfdom compatibility
rhaschke Oct 28, 2016
72324c5
Merge branch 'kinetic-devel' into urdfdom-compatibility
v4hn Jan 30, 2017
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16 changes: 2 additions & 14 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,7 @@ include_directories(SYSTEM ${Boost_INCLUDE_DIR})
find_package(console_bridge REQUIRED)
find_package(urdfdom_headers REQUIRED)

find_package(catkin REQUIRED COMPONENTS cmake_modules urdfdom_py)
find_package(catkin REQUIRED COMPONENTS cmake_modules urdf urdfdom_py)

find_package(TinyXML REQUIRED)

Expand All @@ -16,22 +16,11 @@ link_directories(${catkin_LIBRARY_DIRS})

add_compile_options(-std=c++11)

### Maintain compatibility to old urdfdom_headers (version < 4.0)
if( "0.4.0" VERSION_GREATER "${urdfdom_headers_VERSION}")
set(HAVE_URDFDOM_4 0)
else()
set(HAVE_URDFDOM_4 1)
endif()
set(generated_compat_header "${CATKIN_DEVEL_PREFIX}/include/${PROJECT_NAME}/urdfdom_compatibility.h")
include_directories("${CATKIN_DEVEL_PREFIX}/include")
configure_file(urdfdom_compatibility.h.in "${generated_compat_header}" @ONLY)


catkin_python_setup()

catkin_package(
LIBRARIES ${PROJECT_NAME}
INCLUDE_DIRS include ${TinyXML_INCLUDE_DIRS} ${CATKIN_DEVEL_PREFIX}/include
INCLUDE_DIRS include ${TinyXML_INCLUDE_DIRS}
DEPENDS console_bridge urdfdom_headers urdfdom_py
)

Expand All @@ -49,7 +38,6 @@ install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
)
install(FILES ${generated_compat_header} DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})

install(PROGRAMS
scripts/display_srdf
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3 changes: 1 addition & 2 deletions include/srdfdom/model.h
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Expand Up @@ -41,8 +41,7 @@
#include <string>
#include <vector>
#include <utility>
#include <urdf_model/model.h>
#include <srdfdom/urdfdom_compatibility.h>
#include <urdf/model.h> // TODO: replace with urdf_model/types.h in Lunar
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// TODO: replace with urdf_model/types.h in Lunar

Does this still hold?

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I tried replacing it on a Ubuntu Zesty system and got an error:

/root/ros/ws_catkin/src/srdfdom/include/srdfdom/model.h:66:28: error: 'ModelInterface' in namespace 'urdf' does not name a type

Which I have not looked into

#include <boost/shared_ptr.hpp>
#include <tinyxml.h>

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1 change: 1 addition & 0 deletions package.xml
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Expand Up @@ -16,6 +16,7 @@
<build_depend>boost</build_depend>
<build_depend>cmake_modules</build_depend>
<build_depend>libconsole-bridge-dev</build_depend>
<build_depend>urdf</build_depend>
<build_depend>liburdfdom-headers-dev</build_depend>
<build_depend>urdfdom_py</build_depend>
<build_depend>tinyxml</build_depend>
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78 changes: 0 additions & 78 deletions urdfdom_compatibility.h.in
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