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Make kdl_parser_py build successfully under ros2 #48

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dbb21bc
Made compatible with ros2 way of building python packages
fjulian Jan 8, 2021
94006ce
Compatibility with Orocos KDL after Joint.None was removed
fjulian Jan 8, 2021
26e5e55
Correct dependency tags for format 2 of package.xml
fjulian Jan 8, 2021
94443a8
Match tags
fjulian Jan 8, 2021
f5ac5b5
Adapted test file to ros 2
fjulian Jan 8, 2021
3488b42
Tests for pep257, flake8, copyright and xmllint
fjulian Jan 8, 2021
1424d7a
Make formatting more compatible to flake8
fjulian Jan 11, 2021
8e24beb
updated to official test files
fjulian Jan 11, 2021
2f24ffa
Add licenses, make flake8 test pass
fjulian Jan 12, 2021
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22 changes: 0 additions & 22 deletions kdl_parser_py/CMakeLists.txt
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This file was deleted.

5 changes: 4 additions & 1 deletion kdl_parser_py/kdl_parser_py/urdf.py
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,10 @@ def _toKdlInertia(i):

def _toKdlJoint(jnt):

fixed = lambda j,F: kdl.Joint(j.name, kdl.Joint.None)
fixed = lambda j,F: kdl.Joint(
j.name,
getattr(kdl.Joint, "Fixed") if hasattr(kdl.Joint, 'Fixed') else getattr(kdl.Joint, 'None')
)
rotational = lambda j,F: kdl.Joint(j.name, F.p, F.M * kdl.Vector(*j.axis), kdl.Joint.RotAxis)
translational = lambda j,F: kdl.Joint(j.name, F.p, F.M * kdl.Vector(*j.axis), kdl.Joint.TransAxis)

Expand Down
11 changes: 6 additions & 5 deletions kdl_parser_py/package.xml
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
<package>
<?xml version="1.0"?>
<package format="2">
<name>kdl_parser_py</name>
<version>2.3.0</version>
<description>
Expand All @@ -19,16 +20,16 @@
<url type="repository">https://github.com/ros2/kdl_parser</url>
<url type="bugtracker">https://github.com/ros2/kdl_parser/issues</url>

<buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
<buildtool_depend>python-catkin-pkg</buildtool_depend>

<build_depend version_gte="1.3.0">orocos_kdl</build_depend>
<build_depend>urdf</build_depend>
<build_depend>rostest</build_depend>

<run_depend version_gte="1.3.0">orocos_kdl</run_depend>
<run_depend>urdf</run_depend>
<run_depend>urdfdom_py</run_depend>
<run_depend>python_orocos_kdl</run_depend>

<export>
<build_type>ament_python</build_type>
</export>

</package>
0 kdl_parser_py/AMENT_IGNORE → kdl_parser_py/resource/kdl_parser_py
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4 changes: 4 additions & 0 deletions kdl_parser_py/setup.cfg
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Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
[develop]
script-dir=$base/lib/kdl_parser_py
[install]
install-scripts=$base/lib/kdl_parser_py
22 changes: 14 additions & 8 deletions kdl_parser_py/setup.py
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Original file line number Diff line number Diff line change
@@ -1,11 +1,17 @@
#!/usr/bin/env python
from setuptools import setup
from glob import glob

from distutils.core import setup
from catkin_pkg.python_setup import generate_distutils_setup
package_name = "kdl_parser_py"

d = generate_distutils_setup(
packages=['kdl_parser_py'],
package_dir={'': ''}
setup(
name=package_name,
version="2.3.0",
author="Jonathan Bohren, Jackie Kay",
packages=[package_name],
data_files=[
# Include package file
("share/" + package_name, ["package.xml"]),
# Install marker file in package index
("share/ament_index/resource_index/packages", ["resource/" + package_name]),
],
)

setup(**d)