Merge pull request #96 from petrikvladimir/devel

Fix linking to dynamic_graph_bridge_msgs and fix outdated include paths.

Author: nim65s

CMakeLists.txt

@@ -76,8 +76,9 @@ add_library(ros_bridge SHARED ${${PROJECT_NAME}_SOURCES}
                               ${${PROJECT_NAME}_HEADERS})
 target_include_directories(ros_bridge SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
 target_include_directories(ros_bridge PUBLIC $<INSTALL_INTERFACE:include>)
-target_link_libraries(ros_bridge ${catkin_LIBRARIES} sot-core::sot-core
-                      pinocchio::pinocchio)
+target_link_libraries(
+  ros_bridge ${catkin_LIBRARIES} sot-core::sot-core pinocchio::pinocchio
+  dynamic_graph_bridge_msgs::dynamic_graph_bridge_msgs)
 
 if(SUFFIX_SO_VERSION)
   set_target_properties(ros_bridge PROPERTIES SOVERSION ${PROJECT_VERSION})

include/dynamic_graph_bridge/fwd.hh

@@ -9,12 +9,12 @@
 #ifndef DYNAMIC_GRAPH_BRIDGE_FWD_HH
 #define DYNAMIC_GRAPH_BRIDGE_FWD_HH
 
-#include <dynamic-graph/python/fwd.hh>
+#include <dynamic-graph/fwd.hh>
 
 namespace dynamicgraph {
 // classes defined in sot-core
 class Interpreter;
-typedef shared_ptr<Interpreter> InterpreterPtr_t;
+typedef std::shared_ptr<Interpreter> InterpreterPtr_t;
 }  // namespace dynamicgraph
 
 #endif  // DYNAMIC_GRAPH_PYTHON_FWD_HH

scripts/tf_publisher

@@ -6,22 +6,24 @@
 # through dynamic_graph_bridge.
 #
 
+import logging
+
 import rospy
 
 import tf
 import geometry_msgs.msg
 
 
 def main():
-    rospy.init_node('tf_publisher', anonymous=True)
+    rospy.init_node("tf_publisher", anonymous=True)
 
-    frame = rospy.get_param('~frame', '')
-    childFrame = rospy.get_param('~child_frame', '')
-    topic = rospy.get_param('~topic', '')
-    rateSeconds = rospy.get_param('~rate', 5)
+    frame = rospy.get_param("~frame", "")
+    childFrame = rospy.get_param("~child_frame", "")
+    topic = rospy.get_param("~topic", "")
+    rateSeconds = rospy.get_param("~rate", 5)
 
     if not frame or not childFrame or not topic:
-        logpy.error("frame, childFrame and topic are required parameters")
+        logging.error("frame, childFrame and topic are required parameters")
         return
 
     rate = rospy.Rate(rateSeconds)
@@ -35,11 +37,10 @@ def main():
     ok = False
     while not rospy.is_shutdown() and not ok:
         try:
-            tl.waitForTransform(childFrame, frame,
-                                rospy.Time(), rospy.Duration(0.1))
+            tl.waitForTransform(childFrame, frame, rospy.Time(), rospy.Duration(0.1))
             ok = True
-        except tf.Exception, e:
-            rospy.logwarn("waiting for tf transform")
+        except tf.Exception:
+            logging.warning("waiting for tf transform")
             ok = False
 
     while not rospy.is_shutdown():
@@ -60,4 +61,5 @@ def main():
         pub.publish(transform)
         rate.sleep()
 
+
 main()

src/CMakeLists.txt

@@ -10,9 +10,8 @@ foreach(plugin ${plugins})
                                                      ${PROJECT_VERSION})
   endif(SUFFIX_SO_VERSION)
 
-  target_link_libraries(
-    ${LIBRARY_NAME} ${${LIBRARY_NAME}_deps} ${catkin_LIBRARIES} ros_bridge
-    dynamic_graph_bridge_msgs::dynamic_graph_bridge_msgs)
+  target_link_libraries(${LIBRARY_NAME} ${${LIBRARY_NAME}_deps}
+                        ${catkin_LIBRARIES} ros_bridge)
 
   if(NOT INSTALL_PYTHON_INTERFACE_ONLY)
     install(
@@ -46,10 +45,8 @@ if(BUILD_PYTHON_INTERFACE)
 
   # ros_interperter library.
   add_library(ros_interpreter ros_interpreter.cpp)
-  target_link_libraries(
-    ros_interpreter ros_bridge ${catkin_LIBRARIES}
-    dynamic-graph-python::dynamic-graph-python
-    dynamic_graph_bridge_msgs::dynamic_graph_bridge_msgs)
+  target_link_libraries(ros_interpreter ros_bridge ${catkin_LIBRARIES}
+                        dynamic-graph-python::dynamic-graph-python)
 
   install(
     TARGETS ros_interpreter
@@ -60,16 +57,14 @@ endif(BUILD_PYTHON_INTERFACE)
 # Stand alone embedded intepreter with a robot controller.
 add_executable(geometric_simu geometric_simu.cpp sot_loader.cpp
                               sot_loader_basic.cpp)
-target_link_libraries(
-  geometric_simu Boost::program_options ${CMAKE_DL_LIBS} ${catkin_LIBRARIES}
-  ros_bridge dynamic_graph_bridge_msgs::dynamic_graph_bridge_msgs)
+target_link_libraries(geometric_simu Boost::program_options ${CMAKE_DL_LIBS}
+                      ${catkin_LIBRARIES} ros_bridge)
 install(TARGETS geometric_simu DESTINATION lib/${PROJECT_NAME})
 
 # Sot loader library
 add_library(sot_loader sot_loader.cpp sot_loader_basic.cpp)
-target_link_libraries(
-  sot_loader Boost::program_options ${catkin_LIBRARIES} ros_bridge
-  dynamic_graph_bridge_msgs::dynamic_graph_bridge_msgs)
+target_link_libraries(sot_loader Boost::program_options ${catkin_LIBRARIES}
+                      ros_bridge)
 install(
   TARGETS sot_loader
   EXPORT ${TARGETS_EXPORT_NAME}