diff options
| -rw-r--r-- | .SRCINFO | 8 | ||||
| -rw-r--r-- | PKGBUILD | 15 | ||||
| -rw-r--r-- | fix-urdf-lib-compat.patch | 61 |
3 files changed, 78 insertions, 6 deletions
@@ -1,6 +1,6 @@ pkgbase = ros-indigo-gripper-action-controller pkgdesc = ROS - The gripper_action_controller package. - pkgver = 0.9.2 + pkgver = 0.9.4 pkgrel = 1 url = http://www.ros.org/ arch = any @@ -35,8 +35,10 @@ pkgbase = ros-indigo-gripper-action-controller depends = ros-indigo-actionlib depends = ros-indigo-cmake-modules depends = ros-indigo-urdf - source = gripper_action_controller::git+https://github.com/ros-gbp/ros_controllers-release.git#tag=release/indigo/gripper_action_controller/0.9.2-0 - md5sums = SKIP + source = gripper_action_controller::git+https://github.com/ros-gbp/ros_controllers-release.git#tag=release/indigo/gripper_action_controller/0.9.4-0 + source = fix-urdf-lib-compat.patch + sha256sums = SKIP + sha256sums = e17c3af98a56d448e8077e796734f380ec560575b895b23f78c1944cd69f4cd8 pkgname = ros-indigo-gripper-action-controller @@ -4,7 +4,7 @@ pkgdesc="ROS - The gripper_action_controller package." url='http://www.ros.org/' pkgname='ros-indigo-gripper-action-controller' -pkgver='0.9.2' +pkgver='0.9.4' _pkgver_patch=0 arch=('any') pkgrel=1 @@ -44,8 +44,17 @@ depends=(${ros_depends[@]}) _tag=release/indigo/gripper_action_controller/${pkgver}-${_pkgver_patch} _dir=gripper_action_controller -source=("${_dir}"::"git+https://github.com/ros-gbp/ros_controllers-release.git"#tag=${_tag}) -md5sums=('SKIP') +source=( + "${_dir}"::"git+https://github.com/ros-gbp/ros_controllers-release.git"#tag=${_tag} + 'fix-urdf-lib-compat.patch' +) +sha256sums=('SKIP' + 'e17c3af98a56d448e8077e796734f380ec560575b895b23f78c1944cd69f4cd8') + +prepare() { + cd ${srcdir}/${_dir} + patch -Np1 -i ${srcdir}/fix-urdf-lib-compat.patch +} build() { # Use ROS environment variables diff --git a/fix-urdf-lib-compat.patch b/fix-urdf-lib-compat.patch new file mode 100644 index 000000000000..776b567ccaa2 --- /dev/null +++ b/fix-urdf-lib-compat.patch @@ -0,0 +1,61 @@ +diff --git a/include/gripper_action_controller/gripper_action_controller_impl.h b/include/gripper_action_controller/gripper_action_controller_impl.h +index 29007412..0874819d 100644 +--- a/include/gripper_action_controller/gripper_action_controller_impl.h ++++ b/include/gripper_action_controller/gripper_action_controller_impl.h +@@ -41,9 +41,9 @@ std::string getLeafNamespace(const ros::NodeHandle& nh) + return complete_ns.substr(id + 1); + } + +-boost::shared_ptr<urdf::Model> getUrdf(const ros::NodeHandle& nh, const std::string& param_name) ++std::shared_ptr<urdf::Model> getUrdf(const ros::NodeHandle& nh, const std::string& param_name) + { +- boost::shared_ptr<urdf::Model> urdf(new urdf::Model); ++ std::shared_ptr<urdf::Model> urdf(new urdf::Model); + + std::string urdf_str; + // Check for robot_description in proper namespace +@@ -53,19 +53,19 @@ boost::shared_ptr<urdf::Model> getUrdf(const ros::NodeHandle& nh, const std::str + { + ROS_ERROR_STREAM("Failed to parse URDF contained in '" << param_name << "' parameter (namespace: " << + nh.getNamespace() << ")."); +- return boost::shared_ptr<urdf::Model>(); ++ return std::shared_ptr<urdf::Model>(); + } + } + // Check for robot_description in root + else if (!urdf->initParam("robot_description")) + { + ROS_ERROR_STREAM("Failed to parse URDF contained in '" << param_name << "' parameter"); +- return boost::shared_ptr<urdf::Model>(); ++ return std::shared_ptr<urdf::Model>(); + } + return urdf; + } + +-typedef boost::shared_ptr<const urdf::Joint> UrdfJointConstPtr; ++typedef std::shared_ptr<const urdf::Joint> UrdfJointConstPtr; + std::vector<UrdfJointConstPtr> getUrdfJoints(const urdf::Model& urdf, const std::vector<std::string>& joint_names) + { + std::vector<UrdfJointConstPtr> out; +@@ -157,7 +157,7 @@ bool GripperActionController<HardwareInterface>::init(HardwareInterface* hw, + } + + // URDF joints +- boost::shared_ptr<urdf::Model> urdf = getUrdf(root_nh, "robot_description"); ++ std::shared_ptr<urdf::Model> urdf = getUrdf(root_nh, "robot_description"); + if (!urdf) + { + return false; +diff --git a/include/gripper_action_controller/hardware_interface_adapter.h b/include/gripper_action_controller/hardware_interface_adapter.h +index cd896e19..22f72084 100644 +--- a/include/gripper_action_controller/hardware_interface_adapter.h ++++ b/include/gripper_action_controller/hardware_interface_adapter.h +@@ -182,7 +182,7 @@ public: + } + + private: +- typedef boost::shared_ptr<control_toolbox::Pid> PidPtr; ++ typedef std::shared_ptr<control_toolbox::Pid> PidPtr; + PidPtr pid_; + hardware_interface::JointHandle* joint_handle_ptr_; + }; |