Merge pull request #158 from j-rivero/jrivero/ros2-merge

Unify master and ros2 branches (merge ros2 into master)

.github/workflows/ros1.yaml

@@ -0,0 +1,19 @@
+---
+name: urdfdom ROS1 CI
+
+on:
+  push:
+  pull_request:
+
+jobs:
+  build_ros1:
+    name: ROS1 CI
+    runs-on: ubuntu-18.04
+    steps:
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: melodic
+      - uses: ros-tooling/[email protected]
+        with:
+          package-name: urdfdom
+          target-ros1-distro: melodic

.github/workflows/ros2.yaml

@@ -0,0 +1,20 @@
+---
+name: urdfdom ROS2 CI
+
+on:
+  push:
+  pull_request:
+
+jobs:
+
+  build_ros2:
+    name: ROS2 CI
+    runs-on: ubuntu-20.04
+    steps:
+      - uses: ros-tooling/[email protected]
+        with:
+          required-ros-distributions: galactic
+      - uses: ros-tooling/[email protected]
+        with:
+          package-name: urdfdom
+          target-ros2-distro: galactic

.github/workflows/system.yml

@@ -0,0 +1,69 @@
+---
+name: urdfdom system CI
+
+on:
+  push:
+  pull_request:
+
+jobs:
+  # This workflow contains a single job called "build"
+  build:
+    # The type of runner that the job will run on
+    name: ${{ matrix.config.name }}
+    runs-on: ${{ matrix.config.os }}
+    strategy:
+      fail-fast: false
+      matrix:
+        config:
+          - {
+              name: "Ubuntu Latest GCC",
+              os: ubuntu-latest,
+              build_type: "Release",
+              cc: "gcc",
+              cxx: "g++",
+            }
+          - {
+              name: "Ubuntu Latest GCC",
+              os: ubuntu-latest,
+              build_type: "Debug",
+              cc: "gcc",
+              cxx: "g++",
+            }
+          - {
+              name: "Ubuntu Bionic GCC",
+              os: ubuntu-18.04,
+              build_type: "Release",
+              cc: "gcc",
+              cxx: "g++",
+            }
+    steps:
+      - uses: actions/checkout@v2
+
+      - name: Install dependencies on ubuntu
+        if: startsWith(matrix.config.name, 'Ubuntu')
+        run: |
+          sudo apt-get -qq update
+          sudo apt-get -qq upgrade -y
+          sudo apt-get -qq install -y build-essential cmake libconsole-bridge-dev liburdfdom-headers-dev libtinyxml-dev
+          cmake --version
+          gcc --version
+
+      - name: Configure
+        shell: bash
+        run: |
+          mkdir build
+          cmake \
+            -S . \
+            -B build \
+            -DCMAKE_BUILD_TYPE=${{ matrix.config.build_type }}
+
+      - name: Build
+        shell: bash
+        run: cmake --build build --config ${{ matrix.config.build_type }}
+
+      - name: Run tests on Ubuntu
+        if: startsWith(matrix.config.name, 'Ubuntu')
+        shell: bash
+        run: |
+          cd build
+          make test ARGS="-VV"

CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required( VERSION 2.8 FATAL_ERROR )
+cmake_minimum_required( VERSION 3.5 FATAL_ERROR )
 project (urdfdom CXX C)
 
 set (URDF_MAJOR_VERSION 1)
@@ -24,6 +24,10 @@ if (HAS_VISIBILITY)
   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fvisibility=hidden")
 endif()
 
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
 # This shouldn't be necessary, but there has been trouble
 # with MSVC being set off, but MSVCXX ON.
 if(MSVC OR MSVC90 OR MSVC10)
@@ -32,23 +36,23 @@ endif (MSVC OR MSVC90 OR MSVC10)
 
 set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
 
-find_package(TinyXML REQUIRED)
-include_directories(SYSTEM ${TinyXML_INCLUDE_DIRS})
-
-find_package(urdfdom_headers 1.0.3 REQUIRED)
-include_directories(SYSTEM ${urdfdom_headers_INCLUDE_DIRS})
-if (NOT MSVC)
-  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+find_package(tinyxml_vendor QUIET)
+find_package(TinyXML)
+# bionic has not cmake module, workaround
+if (NOT TinyXML_FOUND AND UNIX)
+  include(FindPkgConfig)
+  pkg_check_modules (TinyXML tinyxml)
+else()
+  # Make it fail in platforms without pkgconfig
+  find_package(TinyXML REQUIRED) # bionic has not cmake module
 endif()
-
+find_package(urdfdom_headers 1.0 REQUIRED)
+find_package(console_bridge_vendor QUIET) # Provides console_bridge 0.4.0 on platforms without it.
 find_package(console_bridge REQUIRED)
-include_directories(SYSTEM ${console_bridge_INCLUDE_DIRS})
-link_directories(${console_bridge_LIBRARY_DIRS})
 
-#In Visual Studio a special postfix for 
-#libraries compiled in debug is used
+#In Visual Studio a special postfix for libraries compiled in debug is used
 if(MSVC)
-set(CMAKE_DEBUG_POSTFIX "d")
+  set(CMAKE_DEBUG_POSTFIX "d")
 endif(MSVC)
 
 # Control where libraries and executables are placed during the build
@@ -58,19 +62,23 @@ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}"
 
 enable_testing()
 
-add_subdirectory(urdf_parser)
-
 if(WIN32 AND NOT CYGWIN)
   set(CMAKE_CONFIG_INSTALL_DIR CMake)
 else()
-    set(CMAKE_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_FULL_LIBDIR}/${PROJECT_NAME}/cmake/)
+  set(CMAKE_CONFIG_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR}/${PROJECT_NAME}/cmake)
 endif()
+string(REGEX REPLACE "[^/]+" ".." RELATIVE_PATH_CMAKE_DIR_TO_PREFIX "${CMAKE_CONFIG_INSTALL_DIR}")
+string(REGEX REPLACE "[^/]+" ".." RELATIVE_PATH_LIBDIR_TO_PREFIX "${CMAKE_INSTALL_LIBDIR}")
+
+add_subdirectory(urdf_parser)
 
 set(PKG_NAME ${PROJECT_NAME})
 set(PKG_LIBRARIES urdfdom_sensor urdfdom_model_state urdfdom_model urdfdom_world)
 set(PKG_DEPENDS urdfdom_headers console_bridge)
+set(PKG_EXPORTS urdfdom)
 set(cmake_conf_file "cmake/urdfdom-config.cmake")
 configure_file("${CMAKE_CURRENT_SOURCE_DIR}/${cmake_conf_file}.in" "${CMAKE_BINARY_DIR}/${cmake_conf_file}" @ONLY)
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
 install(FILES ${CMAKE_BINARY_DIR}/${cmake_conf_file}
   DESTINATION ${CMAKE_CONFIG_INSTALL_DIR} COMPONENT cmake)
 
@@ -85,10 +93,14 @@ if (NOT MSVC)
     DESTINATION ${CMAKE_INSTALL_LIBDIR}/pkgconfig/ COMPONENT pkgconfig)
 endif()
 
+
 # Add uninstall target
 # Ref: http://www.cmake.org/Wiki/CMake_FAQ#Can_I_do_.22make_uninstall.22_with_CMake.3F
-configure_file("${PROJECT_SOURCE_DIR}/cmake/uninstall.cmake.in" "${PROJECT_BINARY_DIR}/uninstall.cmake" IMMEDIATE @ONLY)
-add_custom_target(uninstall "${CMAKE_COMMAND}" -P "${PROJECT_BINARY_DIR}/uninstall.cmake")
+configure_file(
+  "${PROJECT_SOURCE_DIR}/cmake/uninstall.cmake.in"
+  "${PROJECT_BINARY_DIR}/uninstall.cmake" IMMEDIATE @ONLY)
+add_custom_target(uninstall
+  "${CMAKE_COMMAND}" -P "${PROJECT_BINARY_DIR}/uninstall.cmake")
 
 message(STATUS "Configuration successful. Type make to compile urdfdom")
 

cmake/pkgconfig/urdfdom.pc.in

@@ -1,5 +1,5 @@
 # This file was generated by CMake for @PROJECT_NAME@
-prefix=@CMAKE_INSTALL_PREFIX@
+prefix=${pcfiledir}/../@RELATIVE_PATH_LIBDIR_TO_PREFIX@
 exec_prefix=${prefix}
 libdir=${prefix}/@CMAKE_INSTALL_LIBDIR@
 includedir=${prefix}/include

cmake/urdfdom-config.cmake.in

@@ -3,25 +3,41 @@ if (@PKG_NAME@_CONFIG_INCLUDED)
 endif()
 set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
 
-set(@PKG_NAME@_INCLUDE_DIRS "@CMAKE_INSTALL_PREFIX@/include" "@TinyXML_INCLUDE_DIRS@")
+set(@PKG_NAME@_INCLUDE_DIRS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/include" "@TinyXML_INCLUDE_DIRS@")
 
 foreach(lib @PKG_LIBRARIES@)
   set(onelib "${lib}-NOTFOUND")
+  set(onelibd "${lib}-NOTFOUND")
   find_library(onelib ${lib}
-      PATHS "@CMAKE_INSTALL_PREFIX@/@CMAKE_INSTALL_LIBDIR@"
-    NO_DEFAULT_PATH
-    )
-  if(NOT onelib)
+    PATHS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_LIBDIR@"
+    NO_DEFAULT_PATH)
+  find_library(onelibd ${lib}@CMAKE_DEBUG_POSTFIX@
+    PATHS "${@PROJECT_NAME@_DIR}/@RELATIVE_PATH_CMAKE_DIR_TO_PREFIX@/@CMAKE_INSTALL_LIBDIR@"
+    NO_DEFAULT_PATH)
+  if(onelib-NOTFOUND AND onelibd-NOTFOUND)
     message(FATAL_ERROR "Library '${lib}' in package @PKG_NAME@ is not installed properly")
   endif()
-  list(APPEND @PKG_NAME@_LIBRARIES ${onelib})
+  if(onelib AND onelibd)
+    list(APPEND @PKG_NAME@_LIBRARIES $<$<NOT:$<CONFIG:Debug>>:${onelib}>)
+    list(APPEND @PKG_NAME@_LIBRARIES $<$<CONFIG:Debug>:${onelibd}>)
+  else()
+    if(onelib)
+      list(APPEND @PKG_NAME@_LIBRARIES ${onelib})
+    else()
+      list(APPEND @PKG_NAME@_LIBRARIES ${onelibd})
+    endif()
+  endif()
+  list(APPEND @PKG_NAME@_TARGETS @PROJECT_NAME@::${lib})
 endforeach()
 
-
 foreach(dep @PKG_DEPENDS@)
   if(NOT ${dep}_FOUND)
     find_package(${dep})
   endif()
   list(APPEND @PKG_NAME@_INCLUDE_DIRS ${${dep}_INCLUDE_DIRS})
   list(APPEND @PKG_NAME@_LIBRARIES ${${dep}_LIBRARIES})
 endforeach()
+
+foreach(exp @PKG_EXPORTS@)
+  include(${@PROJECT_NAME@_DIR}/${exp}Export.cmake)
+endforeach()

package.xml

@@ -0,0 +1,31 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>urdfdom</name>
+  <version>2.3.5</version>
+  <description>A library to access URDFs using the DOM model.</description>
+  <maintainer email="[email protected]">Steven! Ragnarök</maintainer>
+
+  <license>BSD</license>
+
+  <author>Wim Meeussen</author>
+  <author>John Hsu</author>
+  <author>Ioan Sucan</author>
+
+  <build_depend>console_bridge_vendor</build_depend>
+  <build_depend>libconsole-bridge-dev</build_depend>
+  <build_depend>tinyxml</build_depend>
+  <build_depend>tinyxml_vendor</build_depend>
+  <build_depend version_gte="0.2.3">urdfdom_headers</build_depend>
+
+  <buildtool_depend>cmake</buildtool_depend>
+
+  <exec_depend>console_bridge_vendor</exec_depend>
+  <exec_depend>libconsole-bridge-dev</exec_depend>
+  <exec_depend>tinyxml</exec_depend>
+  <exec_depend>tinyxml_vendor</exec_depend>
+  <exec_depend version_gte="0.2.3">urdfdom_headers</exec_depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>