commit: 153f91288573e1f1a23a8fd1916584a00dc007bd
Author: Alexis Ballier <aballier <AT> gentoo <DOT> org>
AuthorDate: Tue Jul 26 08:52:03 2016 +0000
Commit: Alexis Ballier <aballier <AT> gentoo <DOT> org>
CommitDate: Tue Jul 26 09:18:30 2016 +0000
URL: https://gitweb.gentoo.org/repo/gentoo.git/commit/?id=153f9128
dev-ros/rviz: fix build with urdfdom1 and add := dep on it.
Package-Manager: portage-2.3.0
dev-ros/rviz/files/urdfdom1.patch | 261 +++++++++++++++++++++
.../{rviz-1.12.1.ebuild => rviz-1.12.1-r1.ebuild} | 9 +-
dev-ros/rviz/rviz-9999.ebuild | 3 +-
3 files changed, 269 insertions(+), 4 deletions(-)
diff --git a/dev-ros/rviz/files/urdfdom1.patch
b/dev-ros/rviz/files/urdfdom1.patch
new file mode 100644
index 0000000..d7f152c
--- /dev/null
+++ b/dev-ros/rviz/files/urdfdom1.patch
@@ -0,0 +1,261 @@
+Index: rviz-1.12.1/src/rviz/default_plugin/effort_display.cpp
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/default_plugin/effort_display.cpp
++++ rviz-1.12.1/src/rviz/default_plugin/effort_display.cpp
+@@ -200,7 +200,7 @@ namespace rviz
+ robot_description_ = content;
+
+
+- robot_model_ = boost::shared_ptr<urdf::Model>(new urdf::Model());
++ robot_model_ = std::shared_ptr<urdf::Model>(new urdf::Model());
+ if (!robot_model_->initString(content))
+ {
+ ROS_ERROR("Unable to parse URDF description!");
+@@ -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, std::shared_ptr<urdf::Joint> >::iterator it
= robot_model_->joints_.begin(); it != robot_model_->joints_.end(); it ++ ) {
++ std::shared_ptr<urdf::Joint> joint = it->second;
+ if ( joint->type == urdf::Joint::REVOLUTE ) {
+ std::string joint_name = it->first;
+- boost::shared_ptr<urdf::JointLimits> limit = joint->limits;
++ std::shared_ptr<urdf::JointLimits> 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 );
+Index: rviz-1.12.1/src/rviz/default_plugin/effort_display.h
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/default_plugin/effort_display.h
++++ rviz-1.12.1/src/rviz/default_plugin/effort_display.h
+@@ -36,13 +36,13 @@ namespace tf
+ # undef TF_MESSAGEFILTER_DEBUG
+ #endif
+ #define TF_MESSAGEFILTER_DEBUG(fmt, ...) \
+- ROS_DEBUG_NAMED("message_filter", "MessageFilter [target=%s]: "fmt,
getTargetFramesString().c_str(), __VA_ARGS__)
++ ROS_DEBUG_NAMED("message_filter", "MessageFilter [target=%s]: " fmt,
getTargetFramesString().c_str(), __VA_ARGS__)
+
+ #ifdef TF_MESSAGEFILTER_WARN
+ # undef TF_MESSAGEFILTER_WARN
+ #endif
+ #define TF_MESSAGEFILTER_WARN(fmt, ...) \
+- ROS_WARN_NAMED("message_filter", "MessageFilter [target=%s]: "fmt,
getTargetFramesString().c_str(), __VA_ARGS__)
++ ROS_WARN_NAMED("message_filter", "MessageFilter [target=%s]: " fmt,
getTargetFramesString().c_str(), __VA_ARGS__)
+
+ class MessageFilterJointState : public
MessageFilter<sensor_msgs::JointState>
+ {
+@@ -706,7 +706,7 @@ namespace rviz
+ void clear();
+
+ // The object for urdf model
+- boost::shared_ptr<urdf::Model> robot_model_;
++ std::shared_ptr<urdf::Model> robot_model_;
+
+ //
+ std::string robot_description_;
+Index: rviz-1.12.1/src/rviz/default_plugin/effort_visual.cpp
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/default_plugin/effort_visual.cpp
++++ rviz-1.12.1/src/rviz/default_plugin/effort_visual.cpp
+@@ -13,7 +13,7 @@
+ namespace rviz
+ {
+
+- EffortVisual::EffortVisual( Ogre::SceneManager* scene_manager,
Ogre::SceneNode* parent_node, boost::shared_ptr<urdf::Model> urdf_model )
++ EffortVisual::EffortVisual( Ogre::SceneManager* scene_manager,
Ogre::SceneNode* parent_node, std::shared_ptr<urdf::Model> urdf_model )
+ {
+ scene_manager_ = scene_manager;
+
+@@ -31,7 +31,7 @@ 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, std::shared_ptr<urdf::Joint> >::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 +103,7 @@ namespace rviz
+ if ( ! effort_enabled_[joint_name] ) continue;
+
+ //tf::Transform offset = poseFromJoint(joint);
+- boost::shared_ptr<urdf::JointLimits> limit = joint->limits;
++ std::shared_ptr<urdf::JointLimits> limit = joint->limits;
+ double max_effort = limit->effort, effort_value = 0.05;
+
+ if ( max_effort != 0.0 )
+Index: rviz-1.12.1/src/rviz/default_plugin/effort_visual.h
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/default_plugin/effort_visual.h
++++ rviz-1.12.1/src/rviz/default_plugin/effort_visual.h
+@@ -33,7 +33,7 @@ class EffortVisual
+ public:
+ // Constructor. Creates the visual stuff and puts it into the
+ // scene, but in an unconfigured state.
+- EffortVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode*
parent_node, boost::shared_ptr<urdf::Model> urdf_model );
++ EffortVisual( Ogre::SceneManager* scene_manager, Ogre::SceneNode*
parent_node, std::shared_ptr<urdf::Model> urdf_model );
+
+ // Destructor. Removes the visual stuff from the scene.
+ virtual ~EffortVisual();
+@@ -85,7 +85,7 @@ private:
+ float width_, scale_;
+
+ // The object for urdf model
+- boost::shared_ptr<urdf::Model> urdf_model_;
++ std::shared_ptr<urdf::Model> urdf_model_;
+ };
+
+ } // end namespace rviz
+Index: rviz-1.12.1/src/rviz/robot/robot.cpp
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/robot/robot.cpp
++++ rviz-1.12.1/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 std::shared_ptr<const urdf::Link>& link,
+ const std::string& parent_joint_name,
+ bool visual,
+ bool collision)
+@@ -246,7 +246,7 @@ RobotLink* Robot::LinkFactory::createLin
+
+ RobotJoint* Robot::LinkFactory::createJoint(
+ Robot* robot,
+- const boost::shared_ptr<const urdf::Joint>& joint)
++ const std::shared_ptr<const urdf::Joint>& joint)
+ {
+ return new RobotJoint(robot, joint);
+ }
+@@ -265,12 +265,12 @@ void Robot::load( const urdf::ModelInter
+ // 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, std::shared_ptr<urdf::Link> >
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 std::shared_ptr<const urdf::Link>& 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::ModelInter
+ // 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, std::shared_ptr<urdf::Joint> >
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 std::shared_ptr<const urdf::Joint>& urdf_joint = joint_it->second;
+ RobotJoint* joint = link_factory_->createJoint( this, urdf_joint );
+
+ joints_[urdf_joint->name] = joint;
+Index: rviz-1.12.1/src/rviz/robot/robot.h
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/robot/robot.h
++++ rviz-1.12.1/src/rviz/robot/robot.h
+@@ -173,12 +173,12 @@ public:
+ {
+ public:
+ virtual RobotLink* createLink( Robot* robot,
+- const boost::shared_ptr<const urdf::Link>&
link,
++ const std::shared_ptr<const urdf::Link>&
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 std::shared_ptr<const
urdf::Joint>& joint);
+ };
+
+ /** Call this before load() to subclass the RobotLink or RobotJoint class
used in the link property.
+Index: rviz-1.12.1/src/rviz/robot/robot_joint.cpp
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/robot/robot_joint.cpp
++++ rviz-1.12.1/src/rviz/robot/robot_joint.cpp
+@@ -46,7 +46,7 @@
+ namespace rviz
+ {
+
+-RobotJoint::RobotJoint( Robot* robot, const boost::shared_ptr<const
urdf::Joint>& joint )
++RobotJoint::RobotJoint( Robot* robot, const std::shared_ptr<const
urdf::Joint>& joint )
+ : robot_( robot )
+ , name_( joint->name )
+ , child_link_name_( joint->child_link_name )
+Index: rviz-1.12.1/src/rviz/robot/robot_joint.h
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/robot/robot_joint.h
++++ rviz-1.12.1/src/rviz/robot/robot_joint.h
+@@ -89,7 +89,7 @@ class RobotJoint: public QObject
+ {
+ Q_OBJECT
+ public:
+- RobotJoint( Robot* robot, const boost::shared_ptr<const urdf::Joint>& joint
);
++ RobotJoint( Robot* robot, const std::shared_ptr<const urdf::Joint>& joint );
+ virtual ~RobotJoint();
+
+
+Index: rviz-1.12.1/src/rviz/robot/robot_link.cpp
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/robot/robot_link.cpp
++++ rviz-1.12.1/src/rviz/robot/robot_link.cpp
+@@ -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<std::shared_ptr<urdf::Joint> >::const_iterator child_it =
link->child_joints.begin();
++ std::vector<std::shared_ptr<urdf::Joint> >::const_iterator child_end =
link->child_joints.end();
+ for ( ; child_it != child_end ; ++child_it )
+ {
+ urdf::Joint *child_joint = child_it->get();
+@@ -674,10 +674,10 @@ void RobotLink::createCollision(const ur
+ }
+ }
+ #else
+- std::vector<boost::shared_ptr<urdf::Collision> >::const_iterator vi;
++ std::vector<std::shared_ptr<urdf::Collision> >::const_iterator vi;
+ for( vi = link->collision_array.begin(); vi != link->collision_array.end();
vi++ )
+ {
+- boost::shared_ptr<urdf::Collision> collision = *vi;
++ std::shared_ptr<urdf::Collision> collision = *vi;
+ if( collision && collision->geometry )
+ {
+ Ogre::Entity* collision_mesh = NULL;
+@@ -731,10 +731,10 @@ void RobotLink::createVisual(const urdf:
+ }
+ }
+ #else
+- std::vector<boost::shared_ptr<urdf::Visual> >::const_iterator vi;
++ std::vector<std::shared_ptr<urdf::Visual> >::const_iterator vi;
+ for( vi = link->visual_array.begin(); vi != link->visual_array.end(); vi++ )
+ {
+- boost::shared_ptr<urdf::Visual> visual = *vi;
++ std::shared_ptr<urdf::Visual> visual = *vi;
+ if( visual && visual->geometry )
+ {
+ Ogre::Entity* visual_mesh = NULL;
+Index: rviz-1.12.1/src/rviz/robot/robot_link.h
+===================================================================
+--- rviz-1.12.1.orig/src/rviz/robot/robot_link.h
++++ rviz-1.12.1/src/rviz/robot/robot_link.h
+@@ -62,7 +62,7 @@ namespace urdf
+ {
+ class ModelInterface;
+ class Link;
+-typedef boost::shared_ptr<const Link> LinkConstPtr;
++typedef std::shared_ptr<const Link> LinkConstPtr;
+ class Geometry;
+ typedef boost::shared_ptr<const Geometry> GeometryConstPtr;
+ class Pose;
diff --git a/dev-ros/rviz/rviz-1.12.1.ebuild
b/dev-ros/rviz/rviz-1.12.1-r1.ebuild
similarity index 88%
rename from dev-ros/rviz/rviz-1.12.1.ebuild
rename to dev-ros/rviz/rviz-1.12.1-r1.ebuild
index 23a35fa..3f1eee6 100644
--- a/dev-ros/rviz/rviz-1.12.1.ebuild
+++ b/dev-ros/rviz/rviz-1.12.1-r1.ebuild
@@ -1,4 +1,4 @@
-# Copyright 1999-2014 Gentoo Foundation
+# Copyright 1999-2016 Gentoo Foundation
# Distributed under the terms of the GNU General Public License v2
# $Id$
@@ -8,7 +8,7 @@ ROS_REPO_URI="https://github.com/ros-visualization/rviz";
KEYWORDS="~amd64"
PYTHON_COMPAT=( python2_7 )
-inherit ros-catkin
+inherit ros-catkin flag-o-matic
DESCRIPTION="3D visualization tool for ROS"
LICENSE="BSD"
@@ -25,6 +25,7 @@ RDEPEND="
dev-qt/qtopengl:5
dev-cpp/eigen:3
dev-cpp/yaml-cpp
+ dev-libs/urdfdom:=
dev-ros/angles
dev-ros/image_geometry
@@ -41,7 +42,7 @@ RDEPEND="
dev-ros/roslib[${PYTHON_USEDEP}]
dev-ros/rospy[${PYTHON_USEDEP}]
dev-ros/tf
- dev-ros/urdf
+ >=dev-ros/urdf-1.12.3-r1
dev-ros/geometry_msgs[${CATKIN_MESSAGES_CXX_USEDEP},${CATKIN_MESSAGES_PYTHON_USEDEP}]
dev-ros/map_msgs[${CATKIN_MESSAGES_CXX_USEDEP}]
@@ -58,8 +59,10 @@ DEPEND="${RDEPEND}
dev-ros/rostest[${PYTHON_USEDEP}]
dev-cpp/gtest
)"
+PATCHES=( "${FILESDIR}/urdfdom1.patch" )
src_configure() {
+ append-cxxflags -std=gnu++11
local mycatkincmakeargs=( "-DUseQt5=ON" )
ros-catkin_src_configure
}
diff --git a/dev-ros/rviz/rviz-9999.ebuild b/dev-ros/rviz/rviz-9999.ebuild
index 23a35fa..ac1c4eb 100644
--- a/dev-ros/rviz/rviz-9999.ebuild
+++ b/dev-ros/rviz/rviz-9999.ebuild
@@ -1,4 +1,4 @@
-# Copyright 1999-2014 Gentoo Foundation
+# Copyright 1999-2016 Gentoo Foundation
# Distributed under the terms of the GNU General Public License v2
# $Id$
@@ -25,6 +25,7 @@ RDEPEND="
dev-qt/qtopengl:5
dev-cpp/eigen:3
dev-cpp/yaml-cpp
+ dev-libs/urdfdom:=
dev-ros/angles
dev-ros/image_geometry
