Ros2- compliant package for rFSM/Orocos

CHANGELOG.rst

@@ -2,6 +2,18 @@
 Changelog for package rfsm
 ^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.0.2 (2021-01-19)
+------------------
+* Revert "Readded manifest.xml file to not break rFSM for fuerte and earlier"
+  This reverts commit 26d0477053597690ab1d941f26041492ddfced9b.
+* Merge pull request `#13 <https://github.com/kmarkus/rFSM/issues/13>`_ from Intermodalics/bugfix/rfsm-viz_output_location
+  Fixing rfsm-viz output location bug invalid escape sequence near '\.'
+* Merge pull request `#11 <https://github.com/kmarkus/rFSM/issues/11>`_ from ledvinap/fix-arg
+  Fix deprecated unpack(arg)
+* Merge pull request `#7 <https://github.com/kmarkus/rFSM/issues/7>`_ from meyerj/added-print-fcn-argument-to-gen_dbgcolor
+  Added optional print_fcn argument to rfsmpp.gen_dbgcolor
+* Contributors: Dominick Vanthienen, Johannes Meyer, Markus Klotzbuecher, Petr Ledvina
+
 1.0.1 (2017-05-02)
 ------------------
 * Merge pull request `#1 <https://github.com/orocos/rFSM/issues/1>`_ from meyerj/added-print-fcn-argument-to-gen_dbgcolor

CMakeLists.txt

@@ -1,9 +1,9 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.3)
 project(rfsm)
 
-find_package(catkin REQUIRED)
-catkin_package()
-catkin_add_env_hooks(10.rfsm SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env-hooks)
+find_package(ament_cmake REQUIRED)
+ament_environment_hooks(env-hooks/rfsm.sh.in)
+ament_package()
 
 #############
 ## Install ##
@@ -15,16 +15,22 @@ catkin_add_env_hooks(10.rfsm SHELLS sh DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/env
 file(GLOB LUA_FILES "*.lua")
 install(
   FILES ${LUA_FILES}
-  DESTINATION ${CATKIN_GLOBAL_SHARE_DESTINATION}/lua/5.1/rfsm/
+  DESTINATION share/lua/5.1/rfsm/
 )
+file(GLOB GV_FILES "graphiviz-lib/*")
+install(
+  FILES ${GV_FILES}
+  DESTINATION share/lua/5.1/graphviz/
+)
+
 
 install(
   PROGRAMS tools/rfsm-sim tools/rfsm-viz tools/rfsm2json
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  DESTINATION lib/${PROJECT_NAME}
 )
 
 install(
   FILES tools/rfsm-sim.lua
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  DESTINATION lib/${PROJECT_NAME}
 )
 

env-hooks/rfsm.sh.in

@@ -0,0 +1,12 @@
+#!/bin/sh
+if [ "x$LUA_PATH" = "x" ]; then
+   LUA_PATH=";"
+fi
+export LUA_PATH="$LUA_PATH;@CMAKE_CURRENT_SOURCE_DIR@/?.lua"
+
+if [ "x$LUA_CPATH" = "x" ]; then
+   LUA_CPATH=";"
+fi
+export LUA_CPATH="$LUA_CPATH;@CMAKE_INSTALL_PREFIX@/share/lua/5.1/graphviz/?.so"
+
+

graphiviz-lib/gv.so

@@ -0,0 +1 @@
+libgv_lua.so

graphiviz-lib/libgv_lua.la

@@ -0,0 +1,41 @@
+# libgv_lua.la - a libtool library file
+# Generated by libtool (GNU libtool) 2.4.6 Debian-2.4.6-14
+#
+# Please DO NOT delete this file!
+# It is necessary for linking the library.
+
+# The name that we can dlopen(3).
+dlname='libgv_lua.so'
+
+# Names of this library.
+library_names='libgv_lua.so libgv_lua.so libgv_lua.so'
+
+# The name of the static archive.
+old_library=''
+
+# Linker flags that cannot go in dependency_libs.
+inherited_linker_flags=''
+
+# Libraries that this one depends upon.
+dependency_libs=' -L/usr/local/lib /usr/local/lib/libgvc.la /usr/lib/x86_64-linux-gnu/libltdl.la -ldl /usr/local/lib/libxdot.la /usr/local/lib/libpathplan.la -L/usr/lib64 -lexpat -lz /usr/local/lib/libcgraph.la /usr/local/lib/libcdt.la -llua5.1'
+
+# Names of additional weak libraries provided by this library
+weak_library_names=''
+
+# Version information for libgv_lua.
+current=0
+age=0
+revision=0
+
+# Is this an already installed library?
+installed=yes
+
+# Should we warn about portability when linking against -modules?
+shouldnotlink=yes
+
+# Files to dlopen/dlpreopen
+dlopen=''
+dlpreopen=''
+
+# Directory that this library needs to be installed in:
+libdir='/usr/local/lib/graphviz/lua'

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rfsm</name>
-  <version>1.0.1</version>
+  <version>1.0.2</version>
   <description>This package contains the rFSM flavor of Statecharts.</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
@@ -19,6 +19,9 @@
 
   <!-- The *_depend tags are used to specify dependencies -->
   <!-- Dependencies can be catkin packages or system dependencies -->
-  <buildtool_depend>catkin</buildtool_depend>
+    <buildtool_depend>ament_cmake</buildtool_depend>
+       <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 
 </package>

rfsm_timeevent.lua

@@ -45,8 +45,8 @@ local type = type
 local tonumber = tonumber
 local math = math
 local string = string
-local rfsm = rfsm
-local time = time
+local rfsm = require("rfsm")
+local time = require("time")
 local ts2str = time.ts2str
 
 module 'rfsm_timeevent'