[ros-rviz] 01/02: Add patch for urdfdom-headers-dev 1.0
Jochen Sprickerhof
jspricke at moszumanska.debian.org
Fri Sep 2 08:18:35 UTC 2016
This is an automated email from the git hooks/post-receive script.
jspricke pushed a commit to annotated tag debian/1.12.1+dfsg-2
in repository ros-rviz.
commit 0c7847d2fabeaf4c752ee5777656362374b4ac94
Author: Jochen Sprickerhof <git at jochen.sprickerhof.de>
Date: Fri Sep 2 09:24:42 2016 +0200
Add patch for urdfdom-headers-dev 1.0
---
...urdf-ShredPtr-instead-of-boost-shared_ptr.patch | 449 +++++++++++++++++++++
debian/patches/series | 1 +
2 files changed, 450 insertions(+)
diff --git a/debian/patches/0004-Use-urdf-ShredPtr-instead-of-boost-shared_ptr.patch b/debian/patches/0004-Use-urdf-ShredPtr-instead-of-boost-shared_ptr.patch
new file mode 100644
index 0000000..0b793d2
--- /dev/null
+++ b/debian/patches/0004-Use-urdf-ShredPtr-instead-of-boost-shared_ptr.patch
@@ -0,0 +1,449 @@
+From: Jochen Sprickerhof <git at jochen.sprickerhof.de>
+Date: Fri, 2 Sep 2016 09:08:37 +0200
+Subject: Use urdf::*ShredPtr instead of boost::shared_ptr
+
+urdfdom_headers uses C++ std::shared_ptr. As it exports it as custom
+*SharedPtr type, we can use the to sty compatible.
+
+This also adds a proper dependency for urdfdom-headers
+---
+ CMakeLists.txt | 4 ++++
+ package.xml | 2 ++
+ src/rviz/default_plugin/effort_display.cpp | 6 +++---
+ src/rviz/default_plugin/effort_visual.cpp | 5 +++--
+ src/rviz/robot/robot.cpp | 12 +++++------
+ src/rviz/robot/robot.h | 14 +++++-------
+ src/rviz/robot/robot_joint.cpp | 6 ++----
+ src/rviz/robot/robot_joint.h | 15 +++++--------
+ src/rviz/robot/robot_link.cpp | 34 +++++++++++++++---------------
+ src/rviz/robot/robot_link.h | 23 +++++++-------------
+ 10 files changed, 55 insertions(+), 66 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 640e9c3..761e733 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -17,6 +17,8 @@ find_package(Boost REQUIRED
+ thread
+ )
+
++find_package(urdfdom_headers REQUIRED)
++
+ find_package(PkgConfig REQUIRED)
+
+ find_package(ASSIMP QUIET)
+@@ -129,6 +131,7 @@ find_package(catkin REQUIRED
+ tf
+ urdf
+ visualization_msgs
++ urdfdom_headers
+ )
+
+ if(${tf_VERSION} VERSION_LESS "1.11.3")
+@@ -211,6 +214,7 @@ include_directories(SYSTEM
+ ${OGRE_OV_INCLUDE_DIRS}
+ ${OPENGL_INCLUDE_DIR}
+ ${PYTHON_INCLUDE_PATH}
++ ${urdfdom_headers_INCLUDE_DIRS}
+ )
+ include_directories(src ${catkin_INCLUDE_DIRS})
+
+diff --git a/package.xml b/package.xml
+index c241f29..bd5590a 100644
+--- a/package.xml
++++ b/package.xml
+@@ -49,6 +49,7 @@
+ <build_depend>visualization_msgs</build_depend>
+ <build_depend>yaml-cpp</build_depend>
+ <build_depend>opengl</build_depend>
++ <build_depend>urdfdom-headers-dev</build_depend>
+
+ <run_depend>assimp</run_depend>
+ <run_depend>eigen</run_depend>
+@@ -83,6 +84,7 @@
+ <run_depend>visualization_msgs</run_depend>
+ <run_depend>yaml-cpp</run_depend>
+ <run_depend>opengl</run_depend>
++ <run_depend>urdfdom-headers-dev</run_depend>
+
+ <export>
+ <rviz plugin="${prefix}/plugin_description.xml"/>
+diff --git a/src/rviz/default_plugin/effort_display.cpp b/src/rviz/default_plugin/effort_display.cpp
+index a5574de..e9b595b 100644
+--- a/src/rviz/default_plugin/effort_display.cpp
++++ b/src/rviz/default_plugin/effort_display.cpp
+@@ -208,11 +208,11 @@ namespace rviz
+ return;
+ }
+ setStatus(rviz::StatusProperty::Ok, "URDF", "Robot model parserd Ok");
+- for (std::map<std::string, boost::shared_ptr<urdf::Joint> >::iterator it = robot_model_->joints_.begin(); it != robot_model_->joints_.end(); it ++ ) {
+- boost::shared_ptr<urdf::Joint> joint = it->second;
++ for (std::map<std::string, urdf::JointSharedPtr >::iterator it = robot_model_->joints_.begin(); it != robot_model_->joints_.end(); it ++ ) {
++ urdf::JointSharedPtr joint = it->second;
+ if ( joint->type == urdf::Joint::REVOLUTE ) {
+ std::string joint_name = it->first;
+- boost::shared_ptr<urdf::JointLimits> limit = joint->limits;
++ urdf::JointLimitsSharedPtr limit = joint->limits;
+ joints_[joint_name] = createJoint(joint_name);
+ //joints_[joint_name]->max_effort_property_->setFloat(limit->effort);
+ //joints_[joint_name]->max_effort_property_->setReadOnly( true );
+diff --git a/src/rviz/default_plugin/effort_visual.cpp b/src/rviz/default_plugin/effort_visual.cpp
+index c33716e..922110b 100644
+--- a/src/rviz/default_plugin/effort_visual.cpp
++++ b/src/rviz/default_plugin/effort_visual.cpp
+@@ -8,6 +8,7 @@
+ #include <ros/ros.h>
+
+ #include <urdf/model.h>
++#include <urdf_model/types.h>
+ #include "effort_visual.h"
+
+ namespace rviz
+@@ -31,7 +32,7 @@ namespace rviz
+
+ // We create the arrow object within the frame node so that we can
+ // set its position and direction relative to its header frame.
+- for (std::map<std::string, boost::shared_ptr<urdf::Joint> >::iterator it = urdf_model_->joints_.begin(); it != urdf_model_->joints_.end(); it ++ ) {
++ for (std::map<std::string, urdf::JointSharedPtr >::iterator it = urdf_model_->joints_.begin(); it != urdf_model_->joints_.end(); it ++ ) {
+ if ( it->second->type == urdf::Joint::REVOLUTE ) {
+ std::string joint_name = it->first;
+ effort_enabled_[joint_name] = true;
+@@ -103,7 +104,7 @@ namespace rviz
+ if ( ! effort_enabled_[joint_name] ) continue;
+
+ //tf::Transform offset = poseFromJoint(joint);
+- boost::shared_ptr<urdf::JointLimits> limit = joint->limits;
++ urdf::JointLimitsSharedPtr limit = joint->limits;
+ double max_effort = limit->effort, effort_value = 0.05;
+
+ if ( max_effort != 0.0 )
+diff --git a/src/rviz/robot/robot.cpp b/src/rviz/robot/robot.cpp
+index a65c129..7114698 100644
+--- a/src/rviz/robot/robot.cpp
++++ b/src/rviz/robot/robot.cpp
+@@ -236,7 +236,7 @@ void Robot::clear()
+
+ RobotLink* Robot::LinkFactory::createLink(
+ Robot* robot,
+- const boost::shared_ptr<const urdf::Link>& link,
++ const urdf::LinkConstSharedPtr& link,
+ const std::string& parent_joint_name,
+ bool visual,
+ bool collision)
+@@ -246,7 +246,7 @@ RobotLink* Robot::LinkFactory::createLink(
+
+ RobotJoint* Robot::LinkFactory::createJoint(
+ Robot* robot,
+- const boost::shared_ptr<const urdf::Joint>& joint)
++ const urdf::JointConstSharedPtr& joint)
+ {
+ return new RobotJoint(robot, joint);
+ }
+@@ -265,12 +265,12 @@ void Robot::load( const urdf::ModelInterface &urdf, bool visual, bool collision
+ // Create properties for each link.
+ // Properties are not added to display until changedLinkTreeStyle() is called (below).
+ {
+- typedef std::map<std::string, boost::shared_ptr<urdf::Link> > M_NameToUrdfLink;
++ typedef std::map<std::string, urdf::LinkSharedPtr > M_NameToUrdfLink;
+ M_NameToUrdfLink::const_iterator link_it = urdf.links_.begin();
+ M_NameToUrdfLink::const_iterator link_end = urdf.links_.end();
+ for( ; link_it != link_end; ++link_it )
+ {
+- const boost::shared_ptr<const urdf::Link>& urdf_link = link_it->second;
++ const urdf::LinkConstSharedPtr& urdf_link = link_it->second;
+ std::string parent_joint_name;
+
+ if (urdf_link != urdf.getRoot() && urdf_link->parent_joint)
+@@ -298,12 +298,12 @@ void Robot::load( const urdf::ModelInterface &urdf, bool visual, bool collision
+ // Create properties for each joint.
+ // Properties are not added to display until changedLinkTreeStyle() is called (below).
+ {
+- typedef std::map<std::string, boost::shared_ptr<urdf::Joint> > M_NameToUrdfJoint;
++ typedef std::map<std::string, urdf::JointSharedPtr > M_NameToUrdfJoint;
+ M_NameToUrdfJoint::const_iterator joint_it = urdf.joints_.begin();
+ M_NameToUrdfJoint::const_iterator joint_end = urdf.joints_.end();
+ for( ; joint_it != joint_end; ++joint_it )
+ {
+- const boost::shared_ptr<const urdf::Joint>& urdf_joint = joint_it->second;
++ const urdf::JointConstSharedPtr& urdf_joint = joint_it->second;
+ RobotJoint* joint = link_factory_->createJoint( this, urdf_joint );
+
+ joints_[urdf_joint->name] = joint;
+diff --git a/src/rviz/robot/robot.h b/src/rviz/robot/robot.h
+index d529177..ff0afa7 100644
+--- a/src/rviz/robot/robot.h
++++ b/src/rviz/robot/robot.h
+@@ -39,6 +39,9 @@
+ #include <OgreQuaternion.h>
+ #include <OgreAny.h>
+
++#include <urdf_model/types.h>
++#include <urdf_world/types.h>
++
+ namespace Ogre
+ {
+ class SceneManager;
+@@ -62,13 +65,6 @@ namespace tf
+ class TransformListener;
+ }
+
+-namespace urdf
+-{
+-class ModelInterface;
+-class Link;
+-class Joint;
+-}
+-
+ namespace rviz
+ {
+
+@@ -173,12 +169,12 @@ public:
+ {
+ public:
+ virtual RobotLink* createLink( Robot* robot,
+- const boost::shared_ptr<const urdf::Link>& link,
++ const urdf::LinkConstSharedPtr& link,
+ const std::string& parent_joint_name,
+ bool visual,
+ bool collision);
+ virtual RobotJoint* createJoint( Robot* robot,
+- const boost::shared_ptr<const urdf::Joint>& joint);
++ const urdf::JointConstSharedPtr& joint);
+ };
+
+ /** Call this before load() to subclass the RobotLink or RobotJoint class used in the link property.
+diff --git a/src/rviz/robot/robot_joint.cpp b/src/rviz/robot/robot_joint.cpp
+index 6538fd0..eade172 100644
+--- a/src/rviz/robot/robot_joint.cpp
++++ b/src/rviz/robot/robot_joint.cpp
+@@ -38,15 +38,13 @@
+ #include "rviz/ogre_helpers/axes.h"
+ #include "rviz/load_resource.h"
+
+-#include <urdf_model/model.h>
+-#include <urdf_model/link.h>
+-#include <urdf_model/joint.h>
++#include <urdf_world/types.h>
+
+
+ namespace rviz
+ {
+
+-RobotJoint::RobotJoint( Robot* robot, const boost::shared_ptr<const urdf::Joint>& joint )
++RobotJoint::RobotJoint( Robot* robot, const urdf::JointConstSharedPtr& joint )
+ : robot_( robot )
+ , name_( joint->name )
+ , child_link_name_( joint->child_link_name )
+diff --git a/src/rviz/robot/robot_joint.h b/src/rviz/robot/robot_joint.h
+index ba8a832..f9242a0 100644
+--- a/src/rviz/robot/robot_joint.h
++++ b/src/rviz/robot/robot_joint.h
+@@ -42,6 +42,10 @@
+ #include <OgreMaterial.h>
+ #endif
+
++#include <urdf/model.h>
++#include <urdf_model/pose.h>
++#include <urdf_world/types.h>
++
+ #include "rviz/ogre_helpers/object.h"
+ #include "rviz/selection/forwards.h"
+
+@@ -57,15 +61,6 @@ class Any;
+ class RibbonTrail;
+ }
+
+-namespace urdf
+-{
+-class ModelInterface;
+-class Link;
+-class Joint;
+-class Geometry;
+-class Pose;
+-}
+-
+ namespace rviz
+ {
+ class Shape;
+@@ -89,7 +84,7 @@ class RobotJoint: public QObject
+ {
+ Q_OBJECT
+ public:
+- RobotJoint( Robot* robot, const boost::shared_ptr<const urdf::Joint>& joint );
++ RobotJoint( Robot* robot, const urdf::JointConstSharedPtr& joint );
+ virtual ~RobotJoint();
+
+
+diff --git a/src/rviz/robot/robot_link.cpp b/src/rviz/robot/robot_link.cpp
+index e313207..f6e6027 100644
+--- a/src/rviz/robot/robot_link.cpp
++++ b/src/rviz/robot/robot_link.cpp
+@@ -155,7 +155,7 @@ void RobotLinkSelectionHandler::postRenderPass(uint32_t pass)
+
+
+ RobotLink::RobotLink( Robot* robot,
+- const urdf::LinkConstPtr& link,
++ const urdf::LinkConstSharedPtr& link,
+ const std::string& parent_joint_name,
+ bool visual,
+ bool collision)
+@@ -262,8 +262,8 @@ RobotLink::RobotLink( Robot* robot,
+ desc << " child joint: ";
+ }
+
+- std::vector<boost::shared_ptr<urdf::Joint> >::const_iterator child_it = link->child_joints.begin();
+- std::vector<boost::shared_ptr<urdf::Joint> >::const_iterator child_end = link->child_joints.end();
++ std::vector<urdf::JointSharedPtr >::const_iterator child_it = link->child_joints.begin();
++ std::vector<urdf::JointSharedPtr >::const_iterator child_end = link->child_joints.end();
+ for ( ; child_it != child_end ; ++child_it )
+ {
+ urdf::Joint *child_joint = child_it->get();
+@@ -442,7 +442,7 @@ void RobotLink::updateVisibility()
+ }
+ }
+
+-Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstPtr& link)
++Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstSharedPtr& link)
+ {
+ if (!link->visual || !link->visual->material)
+ {
+@@ -510,7 +510,7 @@ Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstPtr& link)
+ return mat;
+ }
+
+-void RobotLink::createEntityForGeometryElement(const urdf::LinkConstPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, Ogre::SceneNode* scene_node, Ogre::Entity*& entity)
++void RobotLink::createEntityForGeometryElement(const urdf::LinkConstSharedPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, Ogre::SceneNode* scene_node, Ogre::Entity*& entity)
+ {
+ entity = NULL; // default in case nothing works.
+ Ogre::SceneNode* offset_node = scene_node->createChildSceneNode();
+@@ -647,19 +647,19 @@ void RobotLink::createEntityForGeometryElement(const urdf::LinkConstPtr& link, c
+ }
+ }
+
+-void RobotLink::createCollision(const urdf::LinkConstPtr& link)
++void RobotLink::createCollision(const urdf::LinkConstSharedPtr& link)
+ {
+ bool valid_collision_found = false;
+ #if URDF_MAJOR_VERSION == 0 && URDF_MINOR_VERSION == 2
+- std::map<std::string, boost::shared_ptr<std::vector<boost::shared_ptr<urdf::Collision> > > >::const_iterator mi;
++ std::map<std::string, boost::shared_ptr<std::vector<urdf::CollisionSharedPtr > > >::const_iterator mi;
+ for( mi = link->collision_groups.begin(); mi != link->collision_groups.end(); mi++ )
+ {
+ if( mi->second )
+ {
+- std::vector<boost::shared_ptr<urdf::Collision> >::const_iterator vi;
++ std::vector<urdf::CollisionSharedPtr >::const_iterator vi;
+ for( vi = mi->second->begin(); vi != mi->second->end(); vi++ )
+ {
+- boost::shared_ptr<urdf::Collision> collision = *vi;
++ urdf::CollisionSharedPtr collision = *vi;
+ if( collision && collision->geometry )
+ {
+ Ogre::Entity* collision_mesh = NULL;
+@@ -674,10 +674,10 @@ void RobotLink::createCollision(const urdf::LinkConstPtr& link)
+ }
+ }
+ #else
+- std::vector<boost::shared_ptr<urdf::Collision> >::const_iterator vi;
++ std::vector<urdf::CollisionSharedPtr >::const_iterator vi;
+ for( vi = link->collision_array.begin(); vi != link->collision_array.end(); vi++ )
+ {
+- boost::shared_ptr<urdf::Collision> collision = *vi;
++ urdf::CollisionSharedPtr collision = *vi;
+ if( collision && collision->geometry )
+ {
+ Ogre::Entity* collision_mesh = NULL;
+@@ -704,19 +704,19 @@ void RobotLink::createCollision(const urdf::LinkConstPtr& link)
+ collision_node_->setVisible( getEnabled() );
+ }
+
+-void RobotLink::createVisual(const urdf::LinkConstPtr& link )
++void RobotLink::createVisual(const urdf::LinkConstSharedPtr& link )
+ {
+ bool valid_visual_found = false;
+ #if URDF_MAJOR_VERSION == 0 && URDF_MINOR_VERSION == 2
+- std::map<std::string, boost::shared_ptr<std::vector<boost::shared_ptr<urdf::Visual> > > >::const_iterator mi;
++ std::map<std::string, boost::shared_ptr<std::vector<urdf::VisualSharedPtr > > >::const_iterator mi;
+ for( mi = link->visual_groups.begin(); mi != link->visual_groups.end(); mi++ )
+ {
+ if( mi->second )
+ {
+- std::vector<boost::shared_ptr<urdf::Visual> >::const_iterator vi;
++ std::vector<urdf::VisualSharedPtr >::const_iterator vi;
+ for( vi = mi->second->begin(); vi != mi->second->end(); vi++ )
+ {
+- boost::shared_ptr<urdf::Visual> visual = *vi;
++ urdf::VisualSharedPtr visual = *vi;
+ if( visual && visual->geometry )
+ {
+ Ogre::Entity* visual_mesh = NULL;
+@@ -731,10 +731,10 @@ void RobotLink::createVisual(const urdf::LinkConstPtr& link )
+ }
+ }
+ #else
+- std::vector<boost::shared_ptr<urdf::Visual> >::const_iterator vi;
++ std::vector<urdf::VisualSharedPtr >::const_iterator vi;
+ for( vi = link->visual_array.begin(); vi != link->visual_array.end(); vi++ )
+ {
+- boost::shared_ptr<urdf::Visual> visual = *vi;
++ urdf::VisualSharedPtr visual = *vi;
+ if( visual && visual->geometry )
+ {
+ Ogre::Entity* visual_mesh = NULL;
+diff --git a/src/rviz/robot/robot_link.h b/src/rviz/robot/robot_link.h
+index 31e8e6f..d0014fb 100644
+--- a/src/rviz/robot/robot_link.h
++++ b/src/rviz/robot/robot_link.h
+@@ -43,6 +43,9 @@
+ #include <OgreSharedPtr.h>
+ #endif
+
++#include <urdf_model/types.h>
++#include <urdf_model/pose.h>
++
+ #include "rviz/ogre_helpers/object.h"
+ #include "rviz/selection/forwards.h"
+
+@@ -58,16 +61,6 @@ class Any;
+ class RibbonTrail;
+ }
+
+-namespace urdf
+-{
+-class ModelInterface;
+-class Link;
+-typedef boost::shared_ptr<const Link> LinkConstPtr;
+-class Geometry;
+-typedef boost::shared_ptr<const Geometry> GeometryConstPtr;
+-class Pose;
+-}
+-
+ namespace rviz
+ {
+ class Shape;
+@@ -93,7 +86,7 @@ class RobotLink: public QObject
+ Q_OBJECT
+ public:
+ RobotLink( Robot* robot,
+- const urdf::LinkConstPtr& link,
++ const urdf::LinkConstSharedPtr& link,
+ const std::string& parent_joint_name,
+ bool visual,
+ bool collision);
+@@ -162,12 +155,12 @@ private Q_SLOTS:
+ private:
+ void setRenderQueueGroup( Ogre::uint8 group );
+ bool getEnabled() const;
+- void createEntityForGeometryElement( const urdf::LinkConstPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, Ogre::SceneNode* scene_node, Ogre::Entity*& entity );
++ void createEntityForGeometryElement( const urdf::LinkConstSharedPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, Ogre::SceneNode* scene_node, Ogre::Entity*& entity );
+
+- void createVisual( const urdf::LinkConstPtr& link);
+- void createCollision( const urdf::LinkConstPtr& link);
++ void createVisual( const urdf::LinkConstSharedPtr& link);
++ void createCollision( const urdf::LinkConstSharedPtr& link);
+ void createSelection();
+- Ogre::MaterialPtr getMaterialForLink( const urdf::LinkConstPtr& link );
++ Ogre::MaterialPtr getMaterialForLink( const urdf::LinkConstSharedPtr& link );
+
+
+ protected:
diff --git a/debian/patches/series b/debian/patches/series
index f130d41..04e465c 100644
--- a/debian/patches/series
+++ b/debian/patches/series
@@ -1,3 +1,4 @@
0001-Add-Debian-specific-SOVERSION.patch
0003-Replace-Arial-by-generic-Font.patch
0003-C-11-requires-a-space-between-string-concatinations.patch
+0004-Use-urdf-ShredPtr-instead-of-boost-shared_ptr.patch
--
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