Port to ROS 2

CMakeLists.txt

@@ -1,57 +1,63 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(srdfdom)
 
-find_package(Boost REQUIRED)
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
+find_package(Boost REQUIRED)
 find_package(console_bridge REQUIRED)
 find_package(urdfdom_headers REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(urdf REQUIRED)
+find_package(tinyxml_vendor REQUIRED)
 
-find_package(catkin REQUIRED COMPONENTS cmake_modules urdf urdfdom_py)
-
-find_package(TinyXML REQUIRED)
-
-include_directories(
-  include
+include_directories(include ${rclcpp_INCLUDE_DIRS}
+  ${rmw_implementation_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIR}
   ${TinyXML_INCLUDE_DIRS}
-  ${catkin_INCLUDE_DIRS}
   ${console_bridge_INCLUDE_DIRS}
   ${urdfdom_headers_INCLUDE_DIRS}
-  )
-
-add_compile_options(-std=c++11)
-
-catkin_python_setup()
-
-catkin_package(
-  LIBRARIES ${PROJECT_NAME}
-  INCLUDE_DIRS include
-  DEPENDS TinyXML console_bridge urdfdom_headers
+  ${urdf_INCLUDE_DIRS}
+  ${std_msgs_INCLUDE_DIRS}
 )
 
-add_library(${PROJECT_NAME} 
+add_library(${PROJECT_NAME} SHARED
   src/model.cpp
   src/srdf_writer.cpp
 )
-target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${console_bridge_LIBRARIES} ${urdfdom_headers_LIBRARIES})
+ament_target_dependencies(${PROJECT_NAME}
+  ${TinyXML_LIBRARIES}
+  ${console_bridge_LIBRARIES}
+  urdfdom_headers
+  urdf
+)
 
+ament_export_libraries(${PROJECT_NAME})
+ament_export_include_directories(include)
 
 install(TARGETS ${PROJECT_NAME}
-  DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  DESTINATION lib
 )
 install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  DESTINATION include/${PROJECT_NAME}
   FILES_MATCHING PATTERN "*.h"
 )
 
-install(PROGRAMS 
+install(PROGRAMS
   scripts/display_srdf
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  DESTINATION lib/${PROJECT_NAME}
 )
 
-if(CATKIN_ENABLE_TESTING)
-  find_package(rostest REQUIRED)
-  add_rostest(test/srdf_parser.test)
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_gtest REQUIRED)
+  ament_add_gtest(test_parser test/srdf_parser.test)
 
   add_definitions(-DTEST_RESOURCE_LOCATION="${CMAKE_SOURCE_DIR}/test/resources")
   execute_process(COMMAND bash -c "locale -a | grep -q ^nl_NL"
@@ -61,6 +67,14 @@ if(CATKIN_ENABLE_TESTING)
     message(WARNING "Locale nl_NL not available. Locale test will not be meaningful.")
   endif()
 
-  add_rostest_gtest(test_cpp test/srdf_parser_cpp.test test/test_parser.cpp)
+  ament_add_gtest(test_cpp test/srdf_parser_cpp.test test/test_parser.cpp)
   target_link_libraries(test_cpp ${catkin_LIBRARIES} ${PROJECT_NAME})
 endif()
+
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
+ament_export_dependencies(tinyxml_vendor)
+ament_export_dependencies(console_bridge)
+ament_export_dependencies(urdfdom_headers)
+ament_export_dependencies(urdf)
+ament_package()

include/srdfdom/model.h

@@ -41,7 +41,7 @@
 #include <string>
 #include <vector>
 #include <utility>
-#include <urdf/model.h>  // TODO: replace with urdf_model/types.h in Lunar
+#include <urdf/model.h>
 #include <memory>
 #include <tinyxml.h>
 
@@ -209,7 +209,7 @@ class Model
   }
 
   /// \deprecated{ Use the version returning DisabledCollision }
-  __attribute__((deprecated)) std::vector<std::pair<std::string, std::string> > getDisabledCollisions() const;
+  [[deprecated]] std::vector<std::pair<std::string, std::string> > getDisabledCollisions() const;
 
   /// Get the list of groups defined for this model
   const std::vector<Group>& getGroups() const
@@ -270,5 +270,5 @@ class Model
 };
 typedef std::shared_ptr<Model> ModelSharedPtr;
 typedef std::shared_ptr<const Model> ModelConstSharedPtr;
-}
+}  // namespace srdf
 #endif

include/srdfdom/srdf_writer.h

@@ -183,6 +183,6 @@ class SRDFWriter
 // Typedef
 // ******************************************************************************************
 typedef std::shared_ptr<SRDFWriter> SRDFWriterPtr;
-}
+}  // namespace srdf
 
 #endif

package.xml

@@ -1,32 +1,35 @@
-<package>
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>srdfdom</name>
   <version>0.5.1</version>
   <description>Parser for Semantic Robot Description Format (SRDF).</description>
   <author email="[email protected]">Ioan Sucan</author>
   <author email="[email protected]">Guillaume Walck</author>
+
   <maintainer email="[email protected]">Dave Coleman</maintainer>maintainer>
   <maintainer email="[email protected]">Isaac I. Y. Saito</maintainer>maintainer>
   <license>BSD</license>
   <url type="website">http://ros.org/wiki/srdfdom</url>
   <url type="bugtracker">https://github.com/ros-planning/srdfdom/issues</url>
   <url type="repository">https://github.com/ros-planning/srdfdom</url>
-
-  <buildtool_depend>catkin</buildtool_depend>
 
+  <buildtool_depend>ament_cmake</buildtool_depend>
   <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_headers</build_depend>
   <build_depend>urdfdom_py</build_depend>
   <build_depend>tinyxml</build_depend>
+  <build_depend>urdf</build_depend>
 
-  <run_depend>boost</run_depend>
-  <run_depend>libconsole-bridge-dev</run_depend>
-  <run_depend>liburdfdom-headers-dev</run_depend>
-  <run_depend>tinyxml</run_depend>
-  <run_depend>urdfdom_py</run_depend>
-
-  <test_depend>rostest</test_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>boost</exec_depend>
+  <exec_depend>libconsole-bridge-dev</exec_depend>
+  <exec_depend>tinyxml</exec_depend>
+  <exec_depend>urdfdom_py</exec_depend>
 
+  <test_depend>ament_cmake_gtest</test_depend>
+  <export>
+      <build_type>ament_cmake</build_type>
+  </export>
 </package>

src/srdf_writer.cpp

@@ -436,4 +436,4 @@ void SRDFWriter::createPassiveJointsXML(TiXmlElement* root)
     root->LinkEndChild(p_joint);
   }
 }
-}
+}  // namespace srdf