diff options
Diffstat (limited to 'dev-ros/rviz/files/urdfdom1-2.patch')
-rw-r--r-- | dev-ros/rviz/files/urdfdom1-2.patch | 436 |
1 files changed, 0 insertions, 436 deletions
diff --git a/dev-ros/rviz/files/urdfdom1-2.patch b/dev-ros/rviz/files/urdfdom1-2.patch deleted file mode 100644 index c671584e4007..000000000000 --- a/dev-ros/rviz/files/urdfdom1-2.patch +++ /dev/null @@ -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: |