Use new urdf SharedPtr typedefs

[nxdefiant]

Urdf has moved to a new SharedPtr type which results in a compile error:

/opt/ros/ros_catkin_ws/src/robot_state_publisher/src/joint_state_listener.cpp: In function 'int main(int, char**)':
/opt/ros/ros_catkin_ws/src/robot_state_publisher/src/joint_state_listener.cpp:164:98: error: conversion from 'std::map<std::__cxx11::basic_string<char>, std::shared_ptr<urdf::Joint> >::iterator {aka std::_Rb_tree_iterator<std::pair<const std::__cxx11::basic_string<char>, std::shared_ptr<urdf::Joint> > >}' to non-scalar type 'std::map<std::__cxx11::basic_string<char>, boost::shared_ptr<urdf::Joint> >::iterator {aka std::_Rb_tree_iterator<std::pair<const std::__cxx11::basic_string<char>, boost::shared_ptr<urdf::Joint> > >}' requested
   for(std::map< std::string, boost::shared_ptr< urdf::Joint > >::iterator i = model.joints_.begin(); i != model.joints_.end(); i++){

(3600 lines following this)

Replacing
boost::shared_ptr<urdf::JointMimic>
with
urdf::JointMimicSharedPtr

fixes this error.

[sloretz]

Looks like this depends on the version of https://github.com/ros/urdfdom_headers. Yakkety and Zesty are using liburdfdom-headers-dev 1.0 which has moved on to c++11 shared_ptrs. This issue must be fixed for Lunar which is supporting those platforms.

[sloretz]

Looks likes this was fixed by #60 on Kinetic, and so is not an issue on Lunar. It is still broken on Indigo and Jade, but the platforms this will happen on are way above the supported platforms listed in REP-3.

It would be nice to get this building on Indigo on higher platforms, but unfortunately I don't see a path for that. The version of liburdfdom-headers-dev in trusty does not have urdf_model/types.h

I'll close this issue for now. Feel free to reopen if you see a path forward.