msgs: cleanup build script and manifest.

 - remove redundant dependencies
 - migrate to format 2
 - correct dependencies on msg generation and runtime

motoman_msgs/CMakeLists.txt

@@ -1,26 +1,43 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(motoman_msgs)
 
-find_package(catkin REQUIRED COMPONENTS std_msgs trajectory_msgs industrial_msgs genmsg message_generation)
+find_package(catkin
+  REQUIRED COMPONENTS
+    industrial_msgs
+    message_generation
+    std_msgs
+    trajectory_msgs
+)
 
 add_message_files(
+  DIRECTORY
+    msg
   FILES
-  DynamicJointsGroup.msg
-  DynamicJointPoint.msg
-  DynamicJointTrajectory.msg
-  DynamicJointState.msg
-  DynamicJointTrajectoryFeedback.msg
-  )
+    DynamicJointPoint.msg
+    DynamicJointsGroup.msg
+    DynamicJointState.msg
+    DynamicJointTrajectory.msg
+    DynamicJointTrajectoryFeedback.msg
+)
 
 add_service_files(
+  DIRECTORY
+    srv
   FILES
-  CmdJointTrajectoryEx.srv
-  )
+    CmdJointTrajectoryEx.srv
+)
 
 generate_messages(
-  DEPENDENCIES trajectory_msgs std_msgs industrial_msgs
+  DEPENDENCIES
+    industrial_msgs
+    std_msgs
+    trajectory_msgs
 )
 
 catkin_package(
-    CATKIN_DEPENDS message_runtime std_msgs trajectory_msgs industrial_msgs genmsg
+    CATKIN_DEPENDS
+      industrial_msgs
+      message_runtime
+      std_msgs
+      trajectory_msgs
 )

motoman_msgs/package.xml

@@ -1,24 +1,22 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>motoman_msgs</name>
   <version>0.3.5</version>
-  <description>set of messages to serve as support for the multi-groups driver</description>
+  <description>Set of messages to serve as support for the multi-group driver.</description>
 
   <maintainer email="tdf@ipa.fhg.de">Thiago de Freitas</maintainer>
 
   <license>BSD</license>
-  <url type="website">http://ros.org/wiki/motoman_msgs</url>
+  <url type="website">http://wiki.ros.org/motoman_msgs</url>
   <author>Thiago de Freitas</author>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>industrial_msgs</build_depend>
-  <build_depend>trajectory_msgs</build_depend>
-  <build_depend>genmsg</build_depend>
+
   <build_depend>message_generation</build_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>trajectory_msgs</run_depend>
-  <run_depend>industrial_msgs</run_depend>
-  <run_depend>genmsg</run_depend>
-  <run_depend>message_runtime</run_depend>
+  <build_export_depend>message_runtime</build_export_depend>
+  <exec_depend>message_runtime</exec_depend>
+
+  <depend>std_msgs</depend>
+  <depend>industrial_msgs</depend>
+  <depend>trajectory_msgs</depend>
 </package>