update collada_urdf to use assimp_devel on hydro-devel

jsk_ros_patch/collada_urdf_jsk_patch/CMakeLists.txt

@@ -6,9 +6,20 @@ find_package(catkin REQUIRED COMPONENTS collada_urdf)
 
 catkin_package(CATKIN_DEPENDS collada_urdf)
 
-execute_process(COMMAND make -C ${PROJECT_SOURCE_DIR})
-execute_process(COMMAND cmake -E make_directory ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION})
-execute_process(COMMAND cmake -E copy ${PROJECT_SOURCE_DIR}/urdf_to_collada ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION})
+
+set(ENV{PKG_CONFIG_PATH} ${CATKIN_DEVEL_PREFIX}/lib/pkgconfig:$ENV{PKG_CONFIG_PATH})
+add_custom_target(urdf_to_collada ALL DEPENDS ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/urdf_to_collada)
+add_custom_command(OUTPUT ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/urdf_to_collada
+  DEPENDS Makefile
+  COMMAND cmake -E chdir ${CMAKE_CURRENT_BINARY_DIR} make -f ${PROJECT_SOURCE_DIR}/Makefile PKG_CONFIG_PATH=${CATKIN_DEVEL_PREFIX}/lib/pkgconfig:$ENV{PKG_CONFIG_PATH} PATCH_DIR=${PROJECT_SOURCE_DIR}
+  COMMAND cmake -E make_directory ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}
+  COMMAND cmake -E copy ${CMAKE_CURRENT_BINARY_DIR}/urdf_to_collada ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION})
+
+add_dependencies(urdf_to_collada libassimp_devel)
+
+install(PROGRAMS ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/urdf_to_collada
+        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+
 
 
 

jsk_ros_patch/collada_urdf_jsk_patch/Makefile

@@ -3,39 +3,21 @@
 #
 all: urdf_to_collada
 
-
-ifneq ($(shell rosversion -d),fuerte)
-#HG_REVISION = `rosversion collada_urdf`
-## robot_model moved to github, 1.9.32 was last version in kforge
-GIT_DIR = build/robot_model
-GIT_URL = https://github.com/ros/robot_model.git
-GIT_REVISION = groovy-devel
-GIT_PATCH = set_url_name_groovy.patch cmake_catkin.patch
-BUILD_BIN_DIR  = `pwd`/$(GIT_DIR)/collada_urdf/build/devel/lib/collada_urdf
-include $(shell rospack find mk)/git_checkout.mk
-SRC_DIR = $(GIT_DIR)
-else ## fuerte
-GIT_DIR = build/robot_model
+GIT_DIR = build/robot_model/src
 GIT_URL = https://github.com/ros/robot_model.git
-GIT_REVISION = robot_model-`rosversion robot_model`
-GIT_PATCH = cyliner_box_sphere.patch set_url_name.patch cmake_rosbuild.patch collada-dom.patch downloads.patch
-BUILD_BIN_DIR  = `pwd`/$(GIT_DIR)/collada_urdf/bin
+GIT_REVISION = hydro-devel
+PATCH_DIR = $(CURDIR)
+GIT_PATCH = ${PATCH_DIR}/set_url_name_groovy.patch ${PATCH_DIR}/use_assimp_devel.patch
+BUILD_BIN_DIR  = build/robot_model/devel/lib/collada_urdf
 include $(shell rospack find mk)/git_checkout.mk
-SRC_DIR = $(GIT_DIR)
-endif
 
-urdf_to_collada:$(SRC_DIR) patched
-ifneq ($(shell rosversion -d),fuerte)
-	ROS_PACKAGE_PATH=`pwd`/$(SRC_DIR)/collada_urdf:$$ROS_PACKAGE_PATH make -C `pwd`/$(SRC_DIR)/collada_urdf
-	HG_ROS_PACKAGE_PATH=
-else
-	ROS_PACKAGE_PATH=`pwd`/$(SRC_DIR)/collada_urdf:`pwd`/$(SRC_DIR)/colladadom:$$ROS_PACKAGE_PATH make -C `pwd`/$(SRC_DIR)/colladadom
-	ROS_PACKAGE_PATH=`pwd`/$(SRC_DIR)/collada_urdf:`pwd`/$(SRC_DIR)/colladadom:$$ROS_PACKAGE_PATH make -C `pwd`/$(SRC_DIR)/collada_urdf
-endif
+urdf_to_collada:$(GIT_DIR) patched
+	(cd build/robot_model; PKG_CONFIG_PATH=`rospack find assimp_devel`/lib/pkgconfig:${PKG_CONFIG_PATH} catkin_make --pkg collada_urdf --force-cmake)
 	cp $(BUILD_BIN_DIR)/urdf_to_collada .
 
 clean:
-	if [ -f $(SRC_DIR)/collada_urdf ] ; then ROS_PACKAGE_PATH=`pwd`/$(SRC_DIR)/collada_urdf:$$ROS_PACKAGE_PATH make -C `pwd`/$(SRC_DIR)/collada_urdf clean; fi
+	if [ -f build/robot_model/build ] ; then catkin_make clean; fi
+	rm -fr build/robot_model/build
 	rm -rf installed patched
 	rm -f urdf_to_collada
 

jsk_ros_patch/collada_urdf_jsk_patch/manifest.xml

@@ -9,6 +9,8 @@
   <review status="unreviewed" notes=""/>
   <url>http://ros.org/wiki/collada_urdf_jsk_patch</url>
 
+  <depend package="assimp_devel" />
+
   <rosdep name="libgts" />
   <rosdep name="collada_urdf"/>
 

jsk_ros_patch/collada_urdf_jsk_patch/package.xml

@@ -17,7 +17,20 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>angles</build_depend>
+  <build_depend>assimp_devel</build_depend>
+  <build_depend>resource_retriever</build_depend>
+  <build_depend>collada-dom</build_depend>
+  <build_depend>collada_parser</build_depend>
   <build_depend>collada_urdf</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>urdf</build_depend>
+  <build_depend>urdfdom</build_depend>
+  <build_depend>urdfdom_headers</build_depend>
+  <build_depend>geometric_shapes</build_depend>
+  <build_depend>tf</build_depend>
+  <build_depend>cmake_modules</build_depend>
+
   <run_depend>collada_urdf</run_depend>
   <!-- <test_depend>collada_urdf</test_depend> -->
 

jsk_ros_patch/collada_urdf_jsk_patch/use_assimp_devel.patch

@@ -0,0 +1,69 @@
+diff --git a/collada_urdf/CMakeLists.txt b/collada_urdf/CMakeLists.txt
+index fc93e4c..9b44a6e 100644
+--- a/collada_urdf/CMakeLists.txt
++++ b/collada_urdf/CMakeLists.txt
+@@ -15,12 +15,13 @@ include_directories(include)
+ find_package(Boost REQUIRED COMPONENTS system filesystem program_options)
+ include_directories(${Boost_INCLUDE_DIR})
+
+-find_package(assimp QUIET)
++set(ASSIMP_FOUND "")
++find_package(assimp_devel QUIET)
+ if ( NOT ASSIMP_FOUND )
+-  find_package(Assimp QUIET)
++  find_package(Assimp_Devel QUIET)
+   if ( NOT ASSIMP_FOUND )
+     find_package(PkgConfig REQUIRED)
+-    pkg_check_modules(ASSIMP assimp)
++    pkg_check_modules(ASSIMP assimp_devel)
+   endif()
+ endif()
+ if( ASSIMP_FOUND )
+diff --git a/collada_urdf/src/collada_urdf.cpp b/collada_urdf/src/collada_urdf.cpp
+index aae003d..c739252 100644
+--- a/collada_urdf/src/collada_urdf.cpp
++++ b/collada_urdf/src/collada_urdf.cpp
+@@ -63,13 +63,13 @@
+ #include <boost/scoped_ptr.hpp>
+
+ #if defined(ASSIMP_UNIFIED_HEADER_NAMES)
+-#include <assimp/scene.h>
+-#include <assimp/LogStream.hpp>
+-#include <assimp/DefaultLogger.hpp>
+-#include <assimp/IOStream.hpp>
+-#include <assimp/IOSystem.hpp>
+-#include <assimp/Importer.hpp>
+-#include <assimp/postprocess.h>
++#include <scene.h>
++#include <LogStream.hpp>
++#include <DefaultLogger.hpp>
++#include <IOStream.hpp>
++#include <IOSystem.hpp>
++#include <Importer.hpp>
++#include <postprocess.h>
+ #else
+ #include <assimp.hpp>
+ #include <aiScene.h>
+diff --git a/collada_urdf/src/collada_to_urdf.cpp b/collada_urdf/src/collada_to_urdf.cpp
+index 3a4d6e6..c9040d5 100644
+--- a/collada_urdf/src/collada_to_urdf.cpp
++++ b/collada_urdf/src/collada_to_urdf.cpp
+@@ -6,12 +6,12 @@
+ #include <urdf_parser/urdf_parser.h>
+
+ #if defined(ASSIMP_UNIFIED_HEADER_NAMES)
+-#include <assimp/IOSystem.hpp>
+-#include <assimp/IOStream.hpp>
+-#include <assimp/Importer.hpp>
+-#include <assimp/Exporter.hpp>
+-#include <assimp/postprocess.h>
+-#include <assimp/scene.h>
++#include <IOSystem.hpp>
++#include <IOStream.hpp>
++#include <Importer.hpp>
++#include <Exporter.hpp>
++#include <postprocess.h>
++#include <scene.h>
+ #else
+ #include <assimp.hpp>
+ #if defined(ASSIMP_EXPORT_API)