From e97433a1c6e55f44b79a35abbc0a14df961f44c0 Mon Sep 17 00:00:00 2001
From: vdiluoffo <vjd215@gmail.com>
Date: Mon, 9 Jan 2017 12:23:29 -0500
Subject: [PATCH] Reference to Issue #512

---
 gazebo_msgs/CMakeLists.txt | 110 +++++++++++++++++--------------------
 gazebo_msgs/package.xml    |  32 +++++------
 2 files changed, 65 insertions(+), 77 deletions(-)

diff --git a/gazebo_msgs/CMakeLists.txt b/gazebo_msgs/CMakeLists.txt
index 9bda9698d..203d694b3 100644
--- a/gazebo_msgs/CMakeLists.txt
+++ b/gazebo_msgs/CMakeLists.txt
@@ -1,65 +1,57 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
+
 project(gazebo_msgs)
 
-find_package(catkin REQUIRED COMPONENTS
-  std_msgs
-  trajectory_msgs
-  geometry_msgs
-  sensor_msgs
-  std_srvs
-  message_generation
-  )
+if(NOT WIN32)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wextra")
+endif()
+
 
-add_message_files(
-  DIRECTORY msg
-  FILES
-  ContactsState.msg
-  ContactState.msg
-  LinkState.msg
-  LinkStates.msg
-  ModelState.msg
-  ModelStates.msg
-  ODEJointProperties.msg
-  ODEPhysics.msg
-  WorldState.msg
-  )
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rmw_implementation_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(trajectory_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+find_package(message_generation REQUIRED)
+find_package(builtin_interfaces REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
 
-add_service_files(DIRECTORY srv FILES
-  ApplyBodyWrench.srv
-  DeleteModel.srv
-  GetLinkState.srv
-  GetPhysicsProperties.srv
-  SetJointProperties.srv
-  SetModelConfiguration.srv
-  SpawnModel.srv
-  ApplyJointEffort.srv
-  GetJointProperties.srv
-  GetModelProperties.srv
-  GetWorldProperties.srv
-  SetLinkProperties.srv
-  SetModelState.srv
-  BodyRequest.srv
-  GetLinkProperties.srv
-  GetModelState.srv
-  JointRequest.srv
-  SetLinkState.srv
-  SetPhysicsProperties.srv
-  SetJointTrajectory.srv
-  )
+# message and service generation
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/ContactsState.msg"
+  "msg/ContactState.msg"
+  "msg/LinkState.msg"
+  "msg/LinkStates.msg"
+  "msg/ModelState.msg"
+  "msg/ModelStates.msg"
+  "msg/ODEJointProperties.msg"
+  "msg/ODEPhysics.msg"
+  "msg/WorldState.msg"
+   "srv/ApplyBodyWrench.srv"
+   "srv/DeleteModel.srv"
+   "srv/GetLinkState.srv"
+   "srv/GetPhysicsProperties.srv"
+   "srv/SetJointProperties.srv"
+   "srv/SetModelConfiguration.srv"
+   "srv/SpawnModel.srv"
+   "srv/ApplyJointEffort.srv"
+   "srv/GetJointProperties.srv"
+   "srv/GetModelProperties.srv"
+   "srv/GetWorldProperties.srv"
+   "srv/SetLinkProperties.srv"
+   "srv/SetModelState.srv"
+   "srv/BodyRequest.srv"
+   "srv/GetLinkProperties.srv"
+   "srv/GetModelState.srv"
+   "srv/JointRequest.srv"
+   "srv/SetLinkState.srv"
+   "srv/SetPhysicsProperties.srv"
+   "srv/SetJointTrajectory.srv"
+   DEPENDENCIES builtin_interfaces
+)
 
-generate_messages(DEPENDENCIES
-  std_msgs
-  geometry_msgs
-  sensor_msgs
-  trajectory_msgs
-  )
 
-catkin_package(
-  CATKIN_DEPENDS
-  message_runtime
-  std_msgs
-  trajectory_msgs
-  geometry_msgs
-  sensor_msgs
-  std_srvs
-  )
+ament_package()  
diff --git a/gazebo_msgs/package.xml b/gazebo_msgs/package.xml
index 6a2d381b1..aaf327c80 100644
--- a/gazebo_msgs/package.xml
+++ b/gazebo_msgs/package.xml
@@ -1,6 +1,7 @@
 <?xml version="1.0"?>
-<package>
-  <name>gazebo_msgs</name>
+<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="2">
+   <name>gazebo_msgs</name>
   <version>2.5.8</version>
   <description>
     Message and service data structures for interacting with Gazebo from ROS.
@@ -16,21 +17,16 @@
 
   <author>John Hsu</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>trajectory_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>std_srvs</build_depend>
-  <build_depend>message_generation</build_depend>
-
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>trajectory_msgs</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>message_runtime</run_depend>
-  <run_depend>std_srvs</run_depend>
-</package>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
+  <build_depend>builtin_interfaces</build_depend>
 
+  <exec_depend>builtin_interfaces</exec_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>