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dev-ros/rviz: stop patching now that rospack returns proper package path

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Package-Manager: portage-2.3.2
This commit is contained in:
Alexis Ballier
2016-11-28 15:31:35 +01:00
parent e504013dc7
commit b3b61d6cd9
4 changed files with 0 additions and 728 deletions
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30
dev-ros/rviz/files/install_loc.patch
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@@ -1,30 +0,0 @@
Install ressources in ros_packages subdir. We force catkin to install packages
there, so move them too.
Index: rviz-1.12.3/CMakeLists.txt
===================================================================
--- rviz-1.12.3.orig/CMakeLists.txt
+++ rviz-1.12.3/CMakeLists.txt
@@ -220,17 +220,17 @@ include_directories(src ${catkin_INCLUDE
add_subdirectory(src)
install(DIRECTORY ogre_media
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+ DESTINATION ${CATKIN_GLOBAL_SHARE_DESTINATION}/ros_packages/${PROJECT_NAME}
)
install(DIRECTORY icons
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+ DESTINATION ${CATKIN_GLOBAL_SHARE_DESTINATION}/ros_packages/${PROJECT_NAME}
)
install(DIRECTORY images
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+ DESTINATION ${CATKIN_GLOBAL_SHARE_DESTINATION}/ros_packages/${PROJECT_NAME}
)
install(FILES default.rviz
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+ DESTINATION ${CATKIN_GLOBAL_SHARE_DESTINATION}/ros_packages/${PROJECT_NAME}
)
install(FILES plugin_description.xml
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+ DESTINATION ${CATKIN_GLOBAL_SHARE_DESTINATION}/ros_packages/${PROJECT_NAME}
)

436
dev-ros/rviz/files/urdfdom1-2.patch
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@@ -1,436 +0,0 @@
commit cd741b86ecc8bdd14906e83b11a3d14dfc3c9871
Author: Alexis Ballier <aballier@gentoo.org>
Date: Thu Oct 20 12:53:48 2016 +0200
Revert "Revert "Use urdf::*ShredPtr instead of boost::shared_ptr" (#1060)"
This reverts commit f54f04d560bedb0620368d8583ec7af4114fd78e.
diff --git a/CMakeLists.txt b/CMakeLists.txt
index b8c7381..597aecb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,6 +17,8 @@ find_package(Boost REQUIRED
thread
)
+find_package(urdfdom_headers REQUIRED)
+
find_package(PkgConfig REQUIRED)
find_package(ASSIMP QUIET)
@@ -131,6 +133,7 @@ find_package(catkin REQUIRED
tf
urdf
visualization_msgs
+ urdfdom_headers
)
if(${tf_VERSION} VERSION_LESS "1.11.3")
@@ -203,6 +206,7 @@ include_directories(SYSTEM
${OGRE_OV_INCLUDE_DIRS}
${OPENGL_INCLUDE_DIR}
${PYTHON_INCLUDE_PATH}
+ ${urdfdom_headers_INCLUDE_DIRS}
)
include_directories(src ${catkin_INCLUDE_DIRS})
diff --git a/package.xml b/package.xml
index d9c8bf8..76b9873 100644
--- a/package.xml
+++ b/package.xml
@@ -48,6 +48,7 @@
<build_depend>visualization_msgs</build_depend>
<build_depend>yaml-cpp</build_depend>
<build_depend>opengl</build_depend>
+ <build_depend>liburdfdom-headers-dev</build_depend>
<run_depend>assimp</run_depend>
<run_depend>eigen</run_depend>
@@ -81,6 +82,7 @@
<run_depend>visualization_msgs</run_depend>
<run_depend>yaml-cpp</run_depend>
<run_depend>opengl</run_depend>
+ <run_depend>liburdfdom-headers-dev</run_depend>
<export>
<rviz plugin="${prefix}/plugin_description.xml"/>
diff --git a/src/rviz/default_plugin/effort_display.cpp b/src/rviz/default_plugin/effort_display.cpp
index a5574de..e9b595b 100644
--- a/src/rviz/default_plugin/effort_display.cpp
+++ b/src/rviz/default_plugin/effort_display.cpp
@@ -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, urdf::JointSharedPtr >::iterator it = robot_model_->joints_.begin(); it != robot_model_->joints_.end(); it ++ ) {
+ urdf::JointSharedPtr joint = it->second;
if ( joint->type == urdf::Joint::REVOLUTE ) {
std::string joint_name = it->first;
- boost::shared_ptr<urdf::JointLimits> limit = joint->limits;
+ urdf::JointLimitsSharedPtr 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 );
diff --git a/src/rviz/default_plugin/effort_visual.cpp b/src/rviz/default_plugin/effort_visual.cpp
index c33716e..922110b 100644
--- a/src/rviz/default_plugin/effort_visual.cpp
+++ b/src/rviz/default_plugin/effort_visual.cpp
@@ -8,6 +8,7 @@
#include <ros/ros.h>
#include <urdf/model.h>
+#include <urdf_model/types.h>
#include "effort_visual.h"
namespace rviz
@@ -31,7 +32,7 @@ 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, urdf::JointSharedPtr >::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 +104,7 @@ namespace rviz
if ( ! effort_enabled_[joint_name] ) continue;
//tf::Transform offset = poseFromJoint(joint);
- boost::shared_ptr<urdf::JointLimits> limit = joint->limits;
+ urdf::JointLimitsSharedPtr limit = joint->limits;
double max_effort = limit->effort, effort_value = 0.05;
if ( max_effort != 0.0 )
diff --git a/src/rviz/robot/robot.cpp b/src/rviz/robot/robot.cpp
index 506a8bd..c1a87f0 100644
--- a/src/rviz/robot/robot.cpp
+++ b/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 urdf::LinkConstSharedPtr& link,
const std::string& parent_joint_name,
bool visual,
bool collision)
@@ -246,7 +246,7 @@ RobotLink* Robot::LinkFactory::createLink(
RobotJoint* Robot::LinkFactory::createJoint(
Robot* robot,
- const boost::shared_ptr<const urdf::Joint>& joint)
+ const urdf::JointConstSharedPtr& joint)
{
return new RobotJoint(robot, joint);
}
@@ -265,12 +265,12 @@ void Robot::load( const urdf::ModelInterface &urdf, bool visual, bool collision
// 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, urdf::LinkSharedPtr > 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 urdf::LinkConstSharedPtr& 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::ModelInterface &urdf, bool visual, bool collision
// 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, urdf::JointSharedPtr > 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 urdf::JointConstSharedPtr& urdf_joint = joint_it->second;
RobotJoint* joint = link_factory_->createJoint( this, urdf_joint );
joints_[urdf_joint->name] = joint;
diff --git a/src/rviz/robot/robot.h b/src/rviz/robot/robot.h
index d529177..ff0afa7 100644
--- a/src/rviz/robot/robot.h
+++ b/src/rviz/robot/robot.h
@@ -39,6 +39,9 @@
#include <OgreQuaternion.h>
#include <OgreAny.h>
+#include <urdf_model/types.h>
+#include <urdf_world/types.h>
+
namespace Ogre
{
class SceneManager;
@@ -62,13 +65,6 @@ namespace tf
class TransformListener;
}
-namespace urdf
-{
-class ModelInterface;
-class Link;
-class Joint;
-}
-
namespace rviz
{
@@ -173,12 +169,12 @@ public:
{
public:
virtual RobotLink* createLink( Robot* robot,
- const boost::shared_ptr<const urdf::Link>& link,
+ const urdf::LinkConstSharedPtr& 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 urdf::JointConstSharedPtr& joint);
};
/** Call this before load() to subclass the RobotLink or RobotJoint class used in the link property.
diff --git a/src/rviz/robot/robot_joint.cpp b/src/rviz/robot/robot_joint.cpp
index 6538fd0..eade172 100644
--- a/src/rviz/robot/robot_joint.cpp
+++ b/src/rviz/robot/robot_joint.cpp
@@ -38,15 +38,13 @@
#include "rviz/ogre_helpers/axes.h"
#include "rviz/load_resource.h"
-#include <urdf_model/model.h>
-#include <urdf_model/link.h>
-#include <urdf_model/joint.h>
+#include <urdf_world/types.h>
namespace rviz
{
-RobotJoint::RobotJoint( Robot* robot, const boost::shared_ptr<const urdf::Joint>& joint )
+RobotJoint::RobotJoint( Robot* robot, const urdf::JointConstSharedPtr& joint )
: robot_( robot )
, name_( joint->name )
, child_link_name_( joint->child_link_name )
diff --git a/src/rviz/robot/robot_joint.h b/src/rviz/robot/robot_joint.h
index ba8a832..f9242a0 100644
--- a/src/rviz/robot/robot_joint.h
+++ b/src/rviz/robot/robot_joint.h
@@ -42,6 +42,10 @@
#include <OgreMaterial.h>
#endif
+#include <urdf/model.h>
+#include <urdf_model/pose.h>
+#include <urdf_world/types.h>
+
#include "rviz/ogre_helpers/object.h"
#include "rviz/selection/forwards.h"
@@ -57,15 +61,6 @@ class Any;
class RibbonTrail;
}
-namespace urdf
-{
-class ModelInterface;
-class Link;
-class Joint;
-class Geometry;
-class Pose;
-}
-
namespace rviz
{
class Shape;
@@ -89,7 +84,7 @@ class RobotJoint: public QObject
{
Q_OBJECT
public:
- RobotJoint( Robot* robot, const boost::shared_ptr<const urdf::Joint>& joint );
+ RobotJoint( Robot* robot, const urdf::JointConstSharedPtr& joint );
virtual ~RobotJoint();
diff --git a/src/rviz/robot/robot_link.cpp b/src/rviz/robot/robot_link.cpp
index b1e3789..4d9a4ca 100644
--- a/src/rviz/robot/robot_link.cpp
+++ b/src/rviz/robot/robot_link.cpp
@@ -154,7 +154,7 @@ void RobotLinkSelectionHandler::postRenderPass(uint32_t pass)
RobotLink::RobotLink( Robot* robot,
- const urdf::LinkConstPtr& link,
+ const urdf::LinkConstSharedPtr& link,
const std::string& parent_joint_name,
bool visual,
bool collision)
@@ -261,8 +261,8 @@ 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<urdf::JointSharedPtr >::const_iterator child_it = link->child_joints.begin();
+ std::vector<urdf::JointSharedPtr >::const_iterator child_end = link->child_joints.end();
for ( ; child_it != child_end ; ++child_it )
{
urdf::Joint *child_joint = child_it->get();
@@ -441,7 +441,7 @@ void RobotLink::updateVisibility()
}
}
-Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstPtr& link)
+Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstSharedPtr& link)
{
if (!link->visual || !link->visual->material)
{
@@ -509,7 +509,7 @@ Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstPtr& link)
return mat;
}
-void RobotLink::createEntityForGeometryElement(const urdf::LinkConstPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, Ogre::SceneNode* scene_node, Ogre::Entity*& entity)
+void RobotLink::createEntityForGeometryElement(const urdf::LinkConstSharedPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, Ogre::SceneNode* scene_node, Ogre::Entity*& entity)
{
entity = NULL; // default in case nothing works.
Ogre::SceneNode* offset_node = scene_node->createChildSceneNode();
@@ -646,19 +646,19 @@ void RobotLink::createEntityForGeometryElement(const urdf::LinkConstPtr& link, c
}
}
-void RobotLink::createCollision(const urdf::LinkConstPtr& link)
+void RobotLink::createCollision(const urdf::LinkConstSharedPtr& link)
{
bool valid_collision_found = false;
#if URDF_MAJOR_VERSION == 0 && URDF_MINOR_VERSION == 2
- std::map<std::string, boost::shared_ptr<std::vector<boost::shared_ptr<urdf::Collision> > > >::const_iterator mi;
+ std::map<std::string, boost::shared_ptr<std::vector<urdf::CollisionSharedPtr > > >::const_iterator mi;
for( mi = link->collision_groups.begin(); mi != link->collision_groups.end(); mi++ )
{
if( mi->second )
{
- std::vector<boost::shared_ptr<urdf::Collision> >::const_iterator vi;
+ std::vector<urdf::CollisionSharedPtr >::const_iterator vi;
for( vi = mi->second->begin(); vi != mi->second->end(); vi++ )
{
- boost::shared_ptr<urdf::Collision> collision = *vi;
+ urdf::CollisionSharedPtr collision = *vi;
if( collision && collision->geometry )
{
Ogre::Entity* collision_mesh = NULL;
@@ -673,10 +673,10 @@ void RobotLink::createCollision(const urdf::LinkConstPtr& link)
}
}
#else
- std::vector<boost::shared_ptr<urdf::Collision> >::const_iterator vi;
+ std::vector<urdf::CollisionSharedPtr >::const_iterator vi;
for( vi = link->collision_array.begin(); vi != link->collision_array.end(); vi++ )
{
- boost::shared_ptr<urdf::Collision> collision = *vi;
+ urdf::CollisionSharedPtr collision = *vi;
if( collision && collision->geometry )
{
Ogre::Entity* collision_mesh = NULL;
@@ -703,19 +703,19 @@ void RobotLink::createCollision(const urdf::LinkConstPtr& link)
collision_node_->setVisible( getEnabled() );
}
-void RobotLink::createVisual(const urdf::LinkConstPtr& link )
+void RobotLink::createVisual(const urdf::LinkConstSharedPtr& link )
{
bool valid_visual_found = false;
#if URDF_MAJOR_VERSION == 0 && URDF_MINOR_VERSION == 2
- std::map<std::string, boost::shared_ptr<std::vector<boost::shared_ptr<urdf::Visual> > > >::const_iterator mi;
+ std::map<std::string, boost::shared_ptr<std::vector<urdf::VisualSharedPtr > > >::const_iterator mi;
for( mi = link->visual_groups.begin(); mi != link->visual_groups.end(); mi++ )
{
if( mi->second )
{
- std::vector<boost::shared_ptr<urdf::Visual> >::const_iterator vi;
+ std::vector<urdf::VisualSharedPtr >::const_iterator vi;
for( vi = mi->second->begin(); vi != mi->second->end(); vi++ )
{
- boost::shared_ptr<urdf::Visual> visual = *vi;
+ urdf::VisualSharedPtr visual = *vi;
if( visual && visual->geometry )
{
Ogre::Entity* visual_mesh = NULL;
@@ -730,10 +730,10 @@ void RobotLink::createVisual(const urdf::LinkConstPtr& link )
}
}
#else
- std::vector<boost::shared_ptr<urdf::Visual> >::const_iterator vi;
+ std::vector<urdf::VisualSharedPtr >::const_iterator vi;
for( vi = link->visual_array.begin(); vi != link->visual_array.end(); vi++ )
{
- boost::shared_ptr<urdf::Visual> visual = *vi;
+ urdf::VisualSharedPtr visual = *vi;
if( visual && visual->geometry )
{
Ogre::Entity* visual_mesh = NULL;
diff --git a/src/rviz/robot/robot_link.h b/src/rviz/robot/robot_link.h
index 31e8e6f..d0014fb 100644
--- a/src/rviz/robot/robot_link.h
+++ b/src/rviz/robot/robot_link.h
@@ -43,6 +43,9 @@
#include <OgreSharedPtr.h>
#endif
+#include <urdf_model/types.h>
+#include <urdf_model/pose.h>
+
#include "rviz/ogre_helpers/object.h"
#include "rviz/selection/forwards.h"
@@ -58,16 +61,6 @@ class Any;
class RibbonTrail;
}
-namespace urdf
-{
-class ModelInterface;
-class Link;
-typedef boost::shared_ptr<const Link> LinkConstPtr;
-class Geometry;
-typedef boost::shared_ptr<const Geometry> GeometryConstPtr;
-class Pose;
-}
-
namespace rviz
{
class Shape;
@@ -93,7 +86,7 @@ class RobotLink: public QObject
Q_OBJECT
public:
RobotLink( Robot* robot,
- const urdf::LinkConstPtr& link,
+ const urdf::LinkConstSharedPtr& link,
const std::string& parent_joint_name,
bool visual,
bool collision);
@@ -162,12 +155,12 @@ private Q_SLOTS:
private:
void setRenderQueueGroup( Ogre::uint8 group );
bool getEnabled() const;
- void createEntityForGeometryElement( const urdf::LinkConstPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, Ogre::SceneNode* scene_node, Ogre::Entity*& entity );
+ void createEntityForGeometryElement( const urdf::LinkConstSharedPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, Ogre::SceneNode* scene_node, Ogre::Entity*& entity );
- void createVisual( const urdf::LinkConstPtr& link);
- void createCollision( const urdf::LinkConstPtr& link);
+ void createVisual( const urdf::LinkConstSharedPtr& link);
+ void createCollision( const urdf::LinkConstSharedPtr& link);
void createSelection();
- Ogre::MaterialPtr getMaterialForLink( const urdf::LinkConstPtr& link );
+ Ogre::MaterialPtr getMaterialForLink( const urdf::LinkConstSharedPtr& link );
protected:

261
dev-ros/rviz/files/urdfdom1.patch
View File

@@ -1,261 +0,0 @@
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;

1
dev-ros/rviz/rviz-1.12.4.ebuild → dev-ros/rviz/rviz-1.12.4-r1.ebuild
View File

@@ -60,7 +60,6 @@ DEPEND="${RDEPEND}
dev-ros/rostest[${PYTHON_USEDEP}]
dev-cpp/gtest
)"
PATCHES=( "${FILESDIR}/install_loc.patch" )
src_configure() {
local mycatkincmakeargs=( "-DUseQt5=ON" )