fix catkin_lint issues (#1341)

* Change package.xml to format 2 * Fix dependencies * add missing dependencies in package.xml * add missing find_package(... REQUIRED) calls * add missing CATKIN_DEPENDS * fix system DEPENDS * Use CATKIN_*_DESTINATION * Quote cmake variable expansions for PROPERTIES * Suppress spurious catkin_lint errors/warnings: fkie/catkin_lint#62 * Only run coverage tests if CATKIN_ENABLE_TESTING is set
ros-planning · Feb 7, 2019 · 8075221 · 8075221
1 parent 8121e46
commit 8075221
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diff --git a/.travis.yml b/.travis.yml
@@ -20,8 +20,7 @@ env:
     - TEST_BLACKLIST=moveit_ros_perception  # mesh_filter_test fails due to broken Mesa OpenGL
     - WARNINGS_OK=false
   matrix:
-    - TEST=clang-format
-    - TEST=catkin_lint
+    - TEST="clang-format catkin_lint"
     - ROS_DISTRO=melodic
     - ROS_DISTRO=kinetic
 
@@ -32,9 +31,6 @@ matrix: # Add a separate config to the matrix, using clang as compiler
       env: ROS_REPO=ros-shadow-fixed
            BEFORE_DOCKER_SCRIPT="source moveit_kinematics/test/test_ikfast_plugins.sh"
 
-  allow_failures:
-    - env: TEST=catkin_lint  # need to fix catkin_lint errors
-
 before_script:
   - git clone -q --depth=1 https://github.com/ros-planning/moveit_ci.git .moveit_ci
 

diff --git a/moveit/package.xml b/moveit/package.xml
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>moveit</name>
   <version>0.10.8</version>
   <description>Meta package that contains all essential package of MoveIt!. Until Summer 2016 MoveIt! had been developed over multiple repositories, where developers' usability and maintenance effort was non-trivial. See <a href = "http://discourse.ros.org/t/migration-to-one-github-repo-for-moveit/266/34">the detailed discussion for the merge of several repositories</a>.</description>
@@ -20,12 +20,12 @@
   <author email="robot.moveit@gmail.com">Sachin Chitta</author>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <run_depend>moveit_commander</run_depend>
-  <run_depend>moveit_core</run_depend>
-  <run_depend>moveit_planners</run_depend>
-  <run_depend>moveit_plugins</run_depend>
-  <run_depend>moveit_ros</run_depend>
-  <run_depend>moveit_setup_assistant</run_depend>
+  <exec_depend>moveit_commander</exec_depend>
+  <exec_depend>moveit_core</exec_depend>
+  <exec_depend>moveit_planners</exec_depend>
+  <exec_depend>moveit_plugins</exec_depend>
+  <exec_depend>moveit_ros</exec_depend>
+  <exec_depend>moveit_setup_assistant</exec_depend>
 
   <export>
     <metapackage/>

diff --git a/moveit_commander/package.xml b/moveit_commander/package.xml
@@ -1,4 +1,4 @@
-<package>
+<package format="2">
   <name>moveit_commander</name>
   <version>0.10.8</version>
   <description>Python interfaces to MoveIt</description>
@@ -20,15 +20,15 @@
 
   <build_depend>python</build_depend>
 
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>moveit_msgs</run_depend>
-  <run_depend>moveit_ros_planning_interface</run_depend>
-  <run_depend>python</run_depend>
-  <run_depend>python-pyassimp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>shape_msgs</run_depend>
-  <run_depend>tf</run_depend>
+  <exec_depend>geometry_msgs</exec_depend>
+  <exec_depend>moveit_msgs</exec_depend>
+  <exec_depend>moveit_ros_planning_interface</exec_depend>
+  <exec_depend>python</exec_depend>
+  <exec_depend>python-pyassimp</exec_depend>
+  <exec_depend>rospy</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>shape_msgs</exec_depend>
+  <exec_depend>tf</exec_depend>
 
   <test_depend>rostest</test_depend>
   <test_depend>moveit_resources</test_depend>

diff --git a/moveit_commander/test/CMakeLists.txt b/moveit_commander/test/CMakeLists.txt
@@ -1,6 +1,6 @@
 if (CATKIN_ENABLE_TESTING)
-  find_package(moveit_resources)
-  find_package(rostest)
+  find_package(moveit_resources REQUIRED)
+  find_package(rostest REQUIRED)
 
   add_rostest(python_moveit_commander.test)
   add_rostest(python_moveit_commander_ns.test)

diff --git a/moveit_core/CMakeLists.txt b/moveit_core/CMakeLists.txt
@@ -1,6 +1,9 @@
 cmake_minimum_required(VERSION 2.8.12)
 project(moveit_core)
 
+#suppress spurious errors: https://github.com/fkie/catkin_lint/issues/62
+#catkin_lint: ignore duplicate_find  (find_package(moveit_resources))
+
 add_compile_options(-std=c++14)
 
 # Warnings
@@ -25,6 +28,7 @@ find_package(Eigen3 REQUIRED)
 find_package(PkgConfig REQUIRED)
 
 pkg_check_modules(LIBFCL REQUIRED fcl)
+# replace LIBFCL_LIBRARIES with full path to the library
 find_library(LIBFCL_LIBRARIES_FULL ${LIBFCL_LIBRARIES} ${LIBFCL_LIBRARY_DIRS})
 set(LIBFCL_LIBRARIES "${LIBFCL_LIBRARIES_FULL}")
 
@@ -35,7 +39,6 @@ find_package(urdfdom_headers REQUIRED)
 find_package(catkin REQUIRED
 COMPONENTS
   tf2_eigen
-  tf2_kdl
   tf2_geometry_msgs
   eigen_stl_containers
   geometric_shapes
@@ -52,17 +55,12 @@ COMPONENTS
   srdfdom
   std_msgs
   trajectory_msgs
+  urdf
   visualization_msgs
   xmlrpcpp
 )
 
 set(VERSION_FILE_PATH "${CATKIN_DEVEL_PREFIX}/include")
-# Add the folder for the generated version header to the package's
-# exported include dirs to avoid a catkin_lint error.
-# This is how gencpp adds the folder of generated message code to
-# the include dirs, see:
-#   https://github.com/ros/gencpp/blob/e5acaf6/cmake/gencpp-extras.cmake.em#L51-L54
-list(APPEND ${PROJECT_NAME}_INCLUDE_DIRS ${VERSION_FILE_PATH})
 file(MAKE_DIRECTORY "${VERSION_FILE_PATH}/moveit")
 
 set(THIS_PACKAGE_INCLUDE_DIRS
@@ -93,6 +91,8 @@ set(THIS_PACKAGE_INCLUDE_DIRS
     utils/include
 )
 
+#suppress spurious error: https://github.com/fkie/catkin_lint/issues/62
+#catkin_lint: ignore_once exported_pkg_config  (LIBFCL)
 catkin_package(
   INCLUDE_DIRS
     ${THIS_PACKAGE_INCLUDE_DIRS}
@@ -120,7 +120,6 @@ catkin_package(
     moveit_utils
     ${OCTOMAP_LIBRARIES}
   CATKIN_DEPENDS
-    tf2_eigen
     eigen_stl_containers
     geometric_shapes
     geometry_msgs
@@ -129,8 +128,11 @@ catkin_package(
     octomap_msgs
     random_numbers
     sensor_msgs
+    shape_msgs
     srdfdom
     std_msgs
+    tf2_eigen
+    tf2_geometry_msgs
     trajectory_msgs
     visualization_msgs
   DEPENDS
@@ -144,20 +146,20 @@ catkin_package(
 
 
 # to run: catkin_make -DENABLE_COVERAGE_TESTING=ON package_name_coverage
-if(ENABLE_COVERAGE_TESTING)
+if(CATKIN_ENABLE_TESTING AND ENABLE_COVERAGE_TESTING)
   find_package(code_coverage REQUIRED)   # catkin package ros-*-code-coverage
   include(CodeCoverage)
   APPEND_COVERAGE_COMPILER_FLAGS()
   set(COVERAGE_EXCLUDES "*/test/*")
-  add_code_coverage(
-    NAME ${PROJECT_NAME}_coverage
-  )
+  add_code_coverage(NAME ${PROJECT_NAME}_coverage)
 endif()
 
 include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS}
                            ${LIBFCL_INCLUDE_DIRS}
                            )
 
+#suppress spurious error: https://github.com/fkie/catkin_lint/issues/62
+#catkin_lint: ignore_once external_directory missing_directory  (${VERSION_FILE_PATH})
 include_directories(${THIS_PACKAGE_INCLUDE_DIRS}
                     ${VERSION_FILE_PATH}
                     ${Boost_INCLUDE_DIRS}
@@ -175,6 +177,7 @@ set(MOVEIT_VERSION_EXTRA "Alpha")
 set(MOVEIT_VERSION "${MOVEIT_VERSION_MAJOR}.${MOVEIT_VERSION_MINOR}.${MOVEIT_VERSION_PATCH}-${MOVEIT_VERSION_EXTRA}")
 message(STATUS " *** Building MoveIt! ${MOVEIT_VERSION} ***")
 configure_file("version/version.h.in" "${VERSION_FILE_PATH}/moveit/version.h")
+#catkin_lint: ignore_once external_file
 install(FILES "${VERSION_FILE_PATH}/moveit/version.h" DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/moveit)
 
 add_subdirectory(version)

diff --git a/moveit_core/background_processing/CMakeLists.txt b/moveit_core/background_processing/CMakeLists.txt
@@ -1,7 +1,7 @@
 set(MOVEIT_LIB_NAME moveit_background_processing)
 
 add_library(${MOVEIT_LIB_NAME} src/background_processing.cpp)
-set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
 

diff --git a/moveit_core/collision_detection/CMakeLists.txt b/moveit_core/collision_detection/CMakeLists.txt
@@ -11,7 +11,7 @@ add_library(${MOVEIT_LIB_NAME}
   src/world.cpp
   src/world_diff.cpp
 )
-set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
 target_link_libraries(${MOVEIT_LIB_NAME} moveit_robot_state ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})

diff --git a/moveit_core/collision_detection_fcl/CMakeLists.txt b/moveit_core/collision_detection_fcl/CMakeLists.txt
@@ -5,7 +5,7 @@ add_library(${MOVEIT_LIB_NAME}
   src/collision_robot_fcl.cpp
   src/collision_world_fcl.cpp
 )
-set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
 target_link_libraries(${MOVEIT_LIB_NAME} moveit_collision_detection ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${LIBFCL_LIBRARIES} ${Boost_LIBRARIES})
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})

diff --git a/moveit_core/collision_distance_field/CMakeLists.txt b/moveit_core/collision_distance_field/CMakeLists.txt
@@ -13,7 +13,7 @@ add_library(${MOVEIT_LIB_NAME}
   src/collision_robot_hybrid.cpp
   src/collision_world_hybrid.cpp
 )
-set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_link_libraries(${MOVEIT_LIB_NAME}
   moveit_planning_scene moveit_distance_field
   ${catkin_LIBRARIES} ${Boost_LIBRARIES})

diff --git a/moveit_core/constraint_samplers/CMakeLists.txt b/moveit_core/constraint_samplers/CMakeLists.txt
@@ -7,7 +7,7 @@ add_library(${MOVEIT_LIB_NAME}
   src/default_constraint_samplers.cpp
   src/union_constraint_sampler.cpp
 )
-set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
 target_link_libraries(${MOVEIT_LIB_NAME}
   moveit_robot_state

diff --git a/moveit_core/distance_field/CMakeLists.txt b/moveit_core/distance_field/CMakeLists.txt
@@ -5,7 +5,7 @@ add_library(${MOVEIT_LIB_NAME}
   src/find_internal_points.cpp
   src/propagation_distance_field.cpp
   )
-set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})

diff --git a/moveit_core/dynamics_solver/CMakeLists.txt b/moveit_core/dynamics_solver/CMakeLists.txt
@@ -1,7 +1,7 @@
 set(MOVEIT_LIB_NAME moveit_dynamics_solver)
 
 add_library(${MOVEIT_LIB_NAME} src/dynamics_solver.cpp)
-set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
 target_link_libraries(${MOVEIT_LIB_NAME} moveit_robot_state ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})

diff --git a/moveit_core/exceptions/CMakeLists.txt b/moveit_core/exceptions/CMakeLists.txt
@@ -1,7 +1,7 @@
 set(MOVEIT_LIB_NAME moveit_exceptions)
 
 add_library(${MOVEIT_LIB_NAME} src/exceptions.cpp)
-set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
 target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
 

diff --git a/moveit_core/kinematic_constraints/CMakeLists.txt b/moveit_core/kinematic_constraints/CMakeLists.txt
@@ -3,7 +3,7 @@ set(MOVEIT_LIB_NAME moveit_kinematic_constraints)
 add_library(${MOVEIT_LIB_NAME}
   src/kinematic_constraint.cpp
   src/utils.cpp)
-set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
 target_link_libraries(${MOVEIT_LIB_NAME}
   moveit_robot_model moveit_kinematics_base moveit_robot_state moveit_collision_detection_fcl

diff --git a/moveit_core/kinematics_base/CMakeLists.txt b/moveit_core/kinematics_base/CMakeLists.txt
@@ -1,7 +1,7 @@
 set(MOVEIT_LIB_NAME moveit_kinematics_base)
 
 add_library(${MOVEIT_LIB_NAME} src/kinematics_base.cpp)
-set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 # Avoid warnings about deprecated members of KinematicsBase when building KinematicsBase itself.
 # TODO: remove when deperecated variables (tip_frame_, search_discretization_) are finally removed.
 target_compile_options(${MOVEIT_LIB_NAME} PRIVATE -Wno-deprecated-declarations)

diff --git a/moveit_core/kinematics_metrics/CMakeLists.txt b/moveit_core/kinematics_metrics/CMakeLists.txt
@@ -1,7 +1,7 @@
 set(MOVEIT_LIB_NAME moveit_kinematics_metrics)
 
 add_library(${MOVEIT_LIB_NAME} src/kinematics_metrics.cpp)
-set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
+set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 
 target_link_libraries(${MOVEIT_LIB_NAME} moveit_robot_state ${catkin_LIBRARIES} ${urdfdom_LIBRARIES} ${urdfdom_headers_LIBRARIES} ${Boost_LIBRARIES})
 add_dependencies(${MOVEIT_LIB_NAME} ${catkin_EXPORTED_TARGETS})

diff --git a/moveit_core/package.xml b/moveit_core/package.xml
@@ -1,4 +1,4 @@
-<package>
+<package format="2">
   <name>moveit_core</name>
   <version>0.10.8</version>
   <description>Core libraries used by MoveIt!</description>
@@ -19,66 +19,39 @@
   <buildtool_depend>catkin</buildtool_depend>
   <buildtool_depend>pkg-config</buildtool_depend>
 
-  <build_depend>assimp</build_depend>
-  <build_depend>boost</build_depend>
-  <build_depend>eigen</build_depend>
-  <build_depend>eigen_stl_containers</build_depend>
-  <build_depend>libfcl-dev</build_depend>
-  <build_depend version_gte="0.5.2">geometric_shapes</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>kdl_parser</build_depend>
-  <build_depend>libconsole-bridge-dev</build_depend>
-  <build_depend>urdf</build_depend>
-  <build_depend>liburdfdom-dev</build_depend>
-  <build_depend>liburdfdom-headers-dev</build_depend>
-  <build_depend>moveit_msgs</build_depend>
-  <build_depend>octomap</build_depend>
-  <build_depend>octomap_msgs</build_depend>
-  <build_depend>random_numbers</build_depend>
-  <build_depend>roslib</build_depend>
-  <build_depend>rostime</build_depend>
-  <build_depend>rosconsole</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>shape_msgs</build_depend>
-  <build_depend>srdfdom</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>tf2_eigen</build_depend>
-  <build_depend>tf2_kdl</build_depend>
-  <build_depend>tf2_geometry_msgs</build_depend>
-  <build_depend>trajectory_msgs</build_depend>
-  <build_depend>visualization_msgs</build_depend>
-  <build_depend>xmlrpcpp</build_depend>
-
-  <run_depend>assimp</run_depend>
-  <run_depend>boost</run_depend>
-  <run_depend>eigen</run_depend>
-  <run_depend>eigen_stl_containers</run_depend>
-  <run_depend>libfcl-dev</run_depend>
-  <run_depend version_gte="0.5.2">geometric_shapes</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>kdl_parser</run_depend>
-  <run_depend>libconsole-bridge-dev</run_depend>
-  <run_depend>urdf</run_depend>
-  <run_depend>liburdfdom-dev</run_depend>
-  <run_depend>liburdfdom-headers-dev</run_depend>
-  <run_depend>moveit_msgs</run_depend>
-  <run_depend>octomap</run_depend>
-  <run_depend>octomap_msgs</run_depend>
-  <run_depend>random_numbers</run_depend>
-  <run_depend>rostime</run_depend>
-  <run_depend>rosconsole</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>srdfdom</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>tf2_eigen</run_depend>
-  <run_depend>tf2_kdl</run_depend>
-  <run_depend>tf2_geometry_msgs</run_depend>
-  <run_depend>trajectory_msgs</run_depend>
-  <run_depend>visualization_msgs</run_depend>
-  <run_depend>xmlrpcpp</run_depend>
+  <depend>assimp</depend>
+  <depend>boost</depend>
+  <depend>eigen</depend>
+  <depend>eigen_stl_containers</depend>
+  <depend>libfcl-dev</depend>
+  <depend version_gte="0.5.2">geometric_shapes</depend>
+  <depend>geometry_msgs</depend>
+  <depend>kdl_parser</depend>
+  <depend>libconsole-bridge-dev</depend>
+  <depend>urdf</depend>
+  <depend>liburdfdom-dev</depend>
+  <depend>liburdfdom-headers-dev</depend>
+  <depend>moveit_msgs</depend>
+  <depend>octomap</depend>
+  <depend>octomap_msgs</depend>
+  <depend>random_numbers</depend>
+  <depend>roslib</depend>
+  <depend>rostime</depend>
+  <depend>rosconsole</depend>
+  <depend>sensor_msgs</depend>
+  <depend>shape_msgs</depend>
+  <depend>srdfdom</depend>
+  <depend>std_msgs</depend>
+  <depend>tf2_eigen</depend>
+  <depend>tf2_geometry_msgs</depend>
+  <depend>trajectory_msgs</depend>
+  <depend>visualization_msgs</depend>
+  <depend>xmlrpcpp</depend>
 
   <test_depend>angles</test_depend>
   <test_depend>moveit_resources</test_depend>
+  <test_depend>tf2_kdl</test_depend>
   <test_depend>orocos_kdl</test_depend>
   <test_depend>rosunit</test_depend>
+  <test_depend>code_coverage</test_depend>
 </package>