commit: 083207741bc59c0dc3e4c15a982225c94e3ee8af Author: Alexis Ballier <aballier <AT> gentoo <DOT> org> AuthorDate: Tue Jul 26 08:04:33 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=08320774
dev-ros/collada_urdf: fix build with urdfdom1 Package-Manager: portage-2.3.0 ...1.12.3.ebuild => collada_urdf-1.12.3-r1.ebuild} | 10 +- dev-ros/collada_urdf/files/urdfdom1.patch | 185 +++++++++++++++++++++ 2 files changed, 193 insertions(+), 2 deletions(-) diff --git a/dev-ros/collada_urdf/collada_urdf-1.12.3.ebuild b/dev-ros/collada_urdf/collada_urdf-1.12.3-r1.ebuild similarity index 76% rename from dev-ros/collada_urdf/collada_urdf-1.12.3.ebuild rename to dev-ros/collada_urdf/collada_urdf-1.12.3-r1.ebuild index bea7a16..ef087a9 100644 --- a/dev-ros/collada_urdf/collada_urdf-1.12.3.ebuild +++ b/dev-ros/collada_urdf/collada_urdf-1.12.3-r1.ebuild @@ -7,7 +7,7 @@ ROS_REPO_URI="https://github.com/ros/robot_model"; KEYWORDS="~amd64 ~arm" ROS_SUBDIR=${PN} -inherit ros-catkin +inherit ros-catkin flag-o-matic DESCRIPTION="Tool to convert Unified Robot Description Format (URDF) documents into COLLADA documents" LICENSE="BSD" @@ -19,7 +19,7 @@ RDEPEND=" dev-ros/angles dev-ros/collada_parser dev-ros/resource_retriever - dev-ros/urdf + >=dev-ros/urdf-1.12.3-r1 dev-ros/geometric_shapes dev-ros/tf media-libs/assimp @@ -27,3 +27,9 @@ RDEPEND=" dev-libs/collada-dom " DEPEND="${RDEPEND}" +PATCHES=( "${FILESDIR}/urdfdom1.patch" ) + +src_configure() { + append-cxxflags -std=gnu++11 + ros-catkin_src_configure +} diff --git a/dev-ros/collada_urdf/files/urdfdom1.patch b/dev-ros/collada_urdf/files/urdfdom1.patch new file mode 100644 index 0000000..dd47d87 --- /dev/null +++ b/dev-ros/collada_urdf/files/urdfdom1.patch @@ -0,0 +1,185 @@ +Index: collada_urdf/src/collada_urdf.cpp +=================================================================== +--- collada_urdf.orig/src/collada_urdf.cpp ++++ collada_urdf/src/collada_urdf.cpp +@@ -538,7 +538,7 @@ private: + domInstance_with_extraRef piscene; + }; + +- typedef std::map< boost::shared_ptr<const urdf::Link>, urdf::Pose > MAPLINKPOSES; ++ typedef std::map< std::shared_ptr<const urdf::Link>, urdf::Pose > MAPLINKPOSES; + struct LINKOUTPUT + { + list<pair<int,string> > listusedlinks; +@@ -562,7 +562,7 @@ private: + axis_output() : iaxis(0) { + } + string sid, nodesid; +- boost::shared_ptr<const urdf::Joint> pjoint; ++ std::shared_ptr<const urdf::Joint> pjoint; + int iaxis; + string jointnodesid; + }; +@@ -788,7 +788,7 @@ protected: + + for(size_t idof = 0; idof < _ikmout->vaxissids.size(); ++idof) { + string axis_infosid = _ComputeId(str(boost::format("axis_info_inst%d")%idof)); +- boost::shared_ptr<const urdf::Joint> pjoint = _ikmout->kmout->vaxissids.at(idof).pjoint; ++ std::shared_ptr<const urdf::Joint> pjoint = _ikmout->kmout->vaxissids.at(idof).pjoint; + BOOST_ASSERT(_mapjointindices[pjoint] == (int)idof); + //int iaxis = _ikmout->kmout->vaxissids.at(idof).iaxis; + +@@ -966,7 +966,7 @@ protected: + kmout->vlinksids.resize(_robot.links_.size()); + + FOREACHC(itjoint, _robot.joints_) { +- boost::shared_ptr<urdf::Joint> pjoint = itjoint->second; ++ std::shared_ptr<urdf::Joint> pjoint = itjoint->second; + int index = _mapjointindices[itjoint->second]; + domJointRef pdomjoint = daeSafeCast<domJoint>(ktec->add(COLLADA_ELEMENT_JOINT)); + string jointid = _ComputeId(pjoint->name); //str(boost::format("joint%d")%index); +@@ -1039,7 +1039,7 @@ protected: + // create the formulas for all mimic joints + FOREACHC(itjoint, _robot.joints_) { + string jointsid = _ComputeId(itjoint->second->name); +- boost::shared_ptr<urdf::Joint> pjoint = itjoint->second; ++ std::shared_ptr<urdf::Joint> pjoint = itjoint->second; + if( !pjoint->mimic ) { + continue; + } +@@ -1125,7 +1125,7 @@ protected: + /// \param pkinparent Kinbody parent + /// \param pnodeparent Node parent + /// \param strModelUri +- virtual LINKOUTPUT _WriteLink(boost::shared_ptr<const urdf::Link> plink, daeElementRef pkinparent, domNodeRef pnodeparent, const string& strModelUri) ++ virtual LINKOUTPUT _WriteLink(std::shared_ptr<const urdf::Link> plink, daeElementRef pkinparent, domNodeRef pnodeparent, const string& strModelUri) + { + LINKOUTPUT out; + int linkindex = _maplinkindices[plink]; +@@ -1141,8 +1141,8 @@ protected: + pnode->setSid(nodesid.c_str()); + pnode->setName(plink->name.c_str()); + +- boost::shared_ptr<urdf::Geometry> geometry; +- boost::shared_ptr<urdf::Material> material; ++ std::shared_ptr<urdf::Geometry> geometry; ++ std::shared_ptr<urdf::Material> material; + urdf::Pose geometry_origin; + if( !!plink->visual ) { + geometry = plink->visual->geometry; +@@ -1161,7 +1161,7 @@ protected: + if ( !!plink->visual ) { + if (plink->visual_array.size() > 1) { + int igeom = 0; +- for (std::vector<boost::shared_ptr<urdf::Visual > >::const_iterator it = plink->visual_array.begin(); ++ for (std::vector<std::shared_ptr<urdf::Visual > >::const_iterator it = plink->visual_array.begin(); + it != plink->visual_array.end(); it++) { + // geom + string geomid = _ComputeId(str(boost::format("g%s_%s_geom%d")%strModelUri%linksid%igeom)); +@@ -1208,7 +1208,7 @@ protected: + + // process all children + FOREACHC(itjoint, plink->child_joints) { +- boost::shared_ptr<urdf::Joint> pjoint = *itjoint; ++ std::shared_ptr<urdf::Joint> pjoint = *itjoint; + int index = _mapjointindices[pjoint]; + + // <attachment_full joint="k1/joint0"> +@@ -1269,7 +1269,7 @@ protected: + return out; + } + +- domGeometryRef _WriteGeometry(boost::shared_ptr<urdf::Geometry> geometry, const std::string& geometry_id, urdf::Pose *org_trans = NULL) ++ domGeometryRef _WriteGeometry(std::shared_ptr<urdf::Geometry> geometry, const std::string& geometry_id, urdf::Pose *org_trans = NULL) + { + domGeometryRef cgeometry = daeSafeCast<domGeometry>(_geometriesLib->add(COLLADA_ELEMENT_GEOMETRY)); + cgeometry->setId(geometry_id.c_str()); +@@ -1308,7 +1308,7 @@ protected: + return cgeometry; + } + +- void _WriteMaterial(const string& geometry_id, boost::shared_ptr<urdf::Material> material) ++ void _WriteMaterial(const string& geometry_id, std::shared_ptr<urdf::Material> material) + { + string effid = geometry_id+string("_eff"); + string matid = geometry_id+string("_mat"); +@@ -1386,7 +1386,7 @@ protected: + rigid_body->setSid(rigidsid.c_str()); + rigid_body->setName(itlink->second->name.c_str()); + domRigid_body::domTechnique_commonRef ptec = daeSafeCast<domRigid_body::domTechnique_common>(rigid_body->add(COLLADA_ELEMENT_TECHNIQUE_COMMON)); +- boost::shared_ptr<urdf::Inertial> inertial = itlink->second->inertial; ++ std::shared_ptr<urdf::Inertial> inertial = itlink->second->inertial; + if( !!inertial ) { + daeSafeCast<domRigid_body::domTechnique_common::domDynamic>(ptec->add(COLLADA_ELEMENT_DYNAMIC))->setValue(xsBoolean(true)); //!!inertial)); + domTargetable_floatRef mass = daeSafeCast<domTargetable_float>(ptec->add(COLLADA_ELEMENT_MASS)); +@@ -1916,9 +1916,9 @@ private: + + boost::shared_ptr<instance_kinematics_model_output> _ikmout; + boost::shared_ptr<instance_articulated_system_output> _iasout; +- std::map< boost::shared_ptr<const urdf::Joint>, int > _mapjointindices; +- std::map< boost::shared_ptr<const urdf::Link>, int > _maplinkindices; +- std::map< boost::shared_ptr<const urdf::Material>, int > _mapmaterialindices; ++ std::map< std::shared_ptr<const urdf::Joint>, int > _mapjointindices; ++ std::map< std::shared_ptr<const urdf::Link>, int > _maplinkindices; ++ std::map< std::shared_ptr<const urdf::Material>, int > _mapmaterialindices; + Assimp::Importer _importer; + }; + +Index: collada_urdf/src/collada_to_urdf.cpp +=================================================================== +--- collada_urdf.orig/src/collada_to_urdf.cpp ++++ collada_urdf/src/collada_to_urdf.cpp +@@ -188,7 +188,7 @@ void assimp_calc_bbox(string fname, floa + } + } + +-void addChildLinkNamesXML(boost::shared_ptr<const Link> link, ofstream& os) ++void addChildLinkNamesXML(std::shared_ptr<const Link> link, ofstream& os) + { + os << " <link name=\"" << link->name << "\">" << endl; + if ( !!link->visual ) { +@@ -405,14 +405,14 @@ void addChildLinkNamesXML(boost::shared_ + } + #endif + +- for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++) ++ for (std::vector<std::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++) + addChildLinkNamesXML(*child, os); + } + +-void addChildJointNamesXML(boost::shared_ptr<const Link> link, ofstream& os) ++void addChildJointNamesXML(std::shared_ptr<const Link> link, ofstream& os) + { + double r, p, y; +- for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++){ ++ for (std::vector<std::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++){ + (*child)->parent_joint->parent_to_joint_origin_transform.rotation.getRPY(r,p,y); + std::string jtype; + if ( (*child)->parent_joint->type == urdf::Joint::UNKNOWN ) { +@@ -443,7 +443,7 @@ void addChildJointNamesXML(boost::shared + os << " <axis xyz=\"" << (*child)->parent_joint->axis.x << " "; + os << (*child)->parent_joint->axis.y << " " << (*child)->parent_joint->axis.z << "\"/>" << endl; + { +- boost::shared_ptr<urdf::Joint> jt((*child)->parent_joint); ++ std::shared_ptr<urdf::Joint> jt((*child)->parent_joint); + + if ( !!jt->limits ) { + os << " <limit "; +@@ -501,7 +501,7 @@ void addChildJointNamesXML(boost::shared + } + } + +-void printTreeXML(boost::shared_ptr<const Link> link, string name, string file) ++void printTreeXML(std::shared_ptr<const Link> link, string name, string file) + { + std::ofstream os; + os.open(file.c_str()); +@@ -667,7 +667,7 @@ int main(int argc, char** argv) + } + xml_file.close(); + +- boost::shared_ptr<ModelInterface> robot; ++ std::shared_ptr<ModelInterface> robot; + if( xml_string.find("<COLLADA") != std::string::npos ) + { + ROS_DEBUG("Parsing robot collada xml string");
