dev-ros/collada_urdf: fix build with urdfdom1

Package-Manager: portage-2.3.0

2 files changed, 193 insertions, 2 deletions

diff --git a/dev-ros/collada_urdf/collada_urdf-1.12.3.ebuild b/dev-ros/collada_urdf/collada_urdf-1.12.3-r1.ebuild
index bea7a16f72a7..ef087a9e678a 100644
--- a/dev-ros/collada_urdf/collada_urdf-1.12.3.ebuild
+++ b/dev-ros/collada_urdf/collada_urdf-1.12.3-r1.ebuild
@@ -7,7 +7,7 @@ ROS_REPO_URI="https://github.com/ros/robot_model"
 KEYWORDS="~amd64 ~arm"
 ROS_SUBDIR=${PN}
 
-inherit ros-catkin
+inherit ros-catkin flag-o-matic
 
 DESCRIPTION="Tool to convert Unified Robot Description Format (URDF) documents into COLLADA documents"
 LICENSE="BSD"
@@ -19,7 +19,7 @@ RDEPEND="
 	dev-ros/angles
 	dev-ros/collada_parser
 	dev-ros/resource_retriever
-	dev-ros/urdf
+	>=dev-ros/urdf-1.12.3-r1
 	dev-ros/geometric_shapes
 	dev-ros/tf
 	media-libs/assimp
@@ -27,3 +27,9 @@ RDEPEND="
 	dev-libs/collada-dom
 "
 DEPEND="${RDEPEND}"
+PATCHES=( "${FILESDIR}/urdfdom1.patch" )
+
+src_configure() {
+	append-cxxflags -std=gnu++11
+	ros-catkin_src_configure
+}
diff --git a/dev-ros/collada_urdf/files/urdfdom1.patch b/dev-ros/collada_urdf/files/urdfdom1.patch
new file mode 100644
index 000000000000..dd47d87f24ce
--- /dev/null
+++ b/dev-ros/collada_urdf/files/urdfdom1.patch
@@ -0,0 +1,185 @@
+Index: collada_urdf/src/collada_urdf.cpp
+===================================================================
+--- collada_urdf.orig/src/collada_urdf.cpp
++++ collada_urdf/src/collada_urdf.cpp
+@@ -538,7 +538,7 @@ private:
+         domInstance_with_extraRef piscene;
+     };
+ 
+-    typedef std::map< boost::shared_ptr<const urdf::Link>, urdf::Pose > MAPLINKPOSES;
++    typedef std::map< std::shared_ptr<const urdf::Link>, urdf::Pose > MAPLINKPOSES;
+     struct LINKOUTPUT
+     {
+         list<pair<int,string> > listusedlinks;
+@@ -562,7 +562,7 @@ private:
+             axis_output() : iaxis(0) {
+             }
+             string sid, nodesid;
+-            boost::shared_ptr<const urdf::Joint> pjoint;
++            std::shared_ptr<const urdf::Joint> pjoint;
+             int iaxis;
+             string jointnodesid;
+         };
+@@ -788,7 +788,7 @@ protected:
+ 
+         for(size_t idof = 0; idof < _ikmout->vaxissids.size(); ++idof) {
+             string axis_infosid = _ComputeId(str(boost::format("axis_info_inst%d")%idof));
+-            boost::shared_ptr<const urdf::Joint> pjoint = _ikmout->kmout->vaxissids.at(idof).pjoint;
++            std::shared_ptr<const urdf::Joint> pjoint = _ikmout->kmout->vaxissids.at(idof).pjoint;
+             BOOST_ASSERT(_mapjointindices[pjoint] == (int)idof);
+             //int iaxis = _ikmout->kmout->vaxissids.at(idof).iaxis;
+ 
+@@ -966,7 +966,7 @@ protected:
+         kmout->vlinksids.resize(_robot.links_.size());
+ 
+         FOREACHC(itjoint, _robot.joints_) {
+-            boost::shared_ptr<urdf::Joint> pjoint = itjoint->second;
++            std::shared_ptr<urdf::Joint> pjoint = itjoint->second;
+             int index = _mapjointindices[itjoint->second];
+             domJointRef pdomjoint = daeSafeCast<domJoint>(ktec->add(COLLADA_ELEMENT_JOINT));
+             string jointid = _ComputeId(pjoint->name); //str(boost::format("joint%d")%index);
+@@ -1039,7 +1039,7 @@ protected:
+         // create the formulas for all mimic joints
+         FOREACHC(itjoint, _robot.joints_) {
+             string jointsid = _ComputeId(itjoint->second->name);
+-            boost::shared_ptr<urdf::Joint> pjoint = itjoint->second;
++            std::shared_ptr<urdf::Joint> pjoint = itjoint->second;
+             if( !pjoint->mimic ) {
+                 continue;
+             }
+@@ -1125,7 +1125,7 @@ protected:
+     /// \param pkinparent Kinbody parent
+     /// \param pnodeparent Node parent
+     /// \param strModelUri
+-    virtual LINKOUTPUT _WriteLink(boost::shared_ptr<const urdf::Link> plink, daeElementRef pkinparent, domNodeRef pnodeparent, const string& strModelUri)
++    virtual LINKOUTPUT _WriteLink(std::shared_ptr<const urdf::Link> plink, daeElementRef pkinparent, domNodeRef pnodeparent, const string& strModelUri)
+     {
+         LINKOUTPUT out;
+         int linkindex = _maplinkindices[plink];
+@@ -1141,8 +1141,8 @@ protected:
+         pnode->setSid(nodesid.c_str());
+         pnode->setName(plink->name.c_str());
+ 
+-        boost::shared_ptr<urdf::Geometry> geometry;
+-        boost::shared_ptr<urdf::Material> material;
++        std::shared_ptr<urdf::Geometry> geometry;
++        std::shared_ptr<urdf::Material> material;
+         urdf::Pose geometry_origin;
+         if( !!plink->visual ) {
+             geometry = plink->visual->geometry;
+@@ -1161,7 +1161,7 @@ protected:
+             if ( !!plink->visual ) {
+               if (plink->visual_array.size() > 1) {
+ 		int igeom = 0;
+-		for (std::vector<boost::shared_ptr<urdf::Visual > >::const_iterator it = plink->visual_array.begin();
++		for (std::vector<std::shared_ptr<urdf::Visual > >::const_iterator it = plink->visual_array.begin();
+ 		     it != plink->visual_array.end(); it++) {
+ 		  // geom
+ 		  string geomid = _ComputeId(str(boost::format("g%s_%s_geom%d")%strModelUri%linksid%igeom));
+@@ -1208,7 +1208,7 @@ protected:
+ 
+         // process all children
+         FOREACHC(itjoint, plink->child_joints) {
+-            boost::shared_ptr<urdf::Joint> pjoint = *itjoint;
++            std::shared_ptr<urdf::Joint> pjoint = *itjoint;
+             int index = _mapjointindices[pjoint];
+ 
+             // <attachment_full joint="k1/joint0">
+@@ -1269,7 +1269,7 @@ protected:
+         return out;
+     }
+ 
+-    domGeometryRef _WriteGeometry(boost::shared_ptr<urdf::Geometry> geometry, const std::string& geometry_id, urdf::Pose *org_trans = NULL)
++    domGeometryRef _WriteGeometry(std::shared_ptr<urdf::Geometry> geometry, const std::string& geometry_id, urdf::Pose *org_trans = NULL)
+     {
+         domGeometryRef cgeometry = daeSafeCast<domGeometry>(_geometriesLib->add(COLLADA_ELEMENT_GEOMETRY));
+         cgeometry->setId(geometry_id.c_str());
+@@ -1308,7 +1308,7 @@ protected:
+         return cgeometry;
+     }
+ 
+-    void _WriteMaterial(const string& geometry_id, boost::shared_ptr<urdf::Material> material)
++    void _WriteMaterial(const string& geometry_id, std::shared_ptr<urdf::Material> material)
+     {
+         string effid = geometry_id+string("_eff");
+         string matid = geometry_id+string("_mat");
+@@ -1386,7 +1386,7 @@ protected:
+             rigid_body->setSid(rigidsid.c_str());
+             rigid_body->setName(itlink->second->name.c_str());
+             domRigid_body::domTechnique_commonRef ptec = daeSafeCast<domRigid_body::domTechnique_common>(rigid_body->add(COLLADA_ELEMENT_TECHNIQUE_COMMON));
+-            boost::shared_ptr<urdf::Inertial> inertial = itlink->second->inertial;
++            std::shared_ptr<urdf::Inertial> inertial = itlink->second->inertial;
+             if( !!inertial ) {
+                 daeSafeCast<domRigid_body::domTechnique_common::domDynamic>(ptec->add(COLLADA_ELEMENT_DYNAMIC))->setValue(xsBoolean(true)); //!!inertial));
+                 domTargetable_floatRef mass = daeSafeCast<domTargetable_float>(ptec->add(COLLADA_ELEMENT_MASS));
+@@ -1916,9 +1916,9 @@ private:
+ 
+     boost::shared_ptr<instance_kinematics_model_output> _ikmout;
+     boost::shared_ptr<instance_articulated_system_output> _iasout;
+-    std::map< boost::shared_ptr<const urdf::Joint>, int > _mapjointindices;
+-    std::map< boost::shared_ptr<const urdf::Link>, int > _maplinkindices;
+-    std::map< boost::shared_ptr<const urdf::Material>, int > _mapmaterialindices;
++    std::map< std::shared_ptr<const urdf::Joint>, int > _mapjointindices;
++    std::map< std::shared_ptr<const urdf::Link>, int > _maplinkindices;
++    std::map< std::shared_ptr<const urdf::Material>, int > _mapmaterialindices;
+     Assimp::Importer _importer;
+ };
+ 
+Index: collada_urdf/src/collada_to_urdf.cpp
+===================================================================
+--- collada_urdf.orig/src/collada_to_urdf.cpp
++++ collada_urdf/src/collada_to_urdf.cpp
+@@ -188,7 +188,7 @@ void assimp_calc_bbox(string fname, floa
+   }
+ }
+ 
+-void addChildLinkNamesXML(boost::shared_ptr<const Link> link, ofstream& os)
++void addChildLinkNamesXML(std::shared_ptr<const Link> link, ofstream& os)
+ {
+   os << "  <link name=\"" << link->name << "\">" << endl;
+   if ( !!link->visual ) {
+@@ -405,14 +405,14 @@ void addChildLinkNamesXML(boost::shared_
+   }
+ #endif
+ 
+-  for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
++  for (std::vector<std::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++)
+     addChildLinkNamesXML(*child, os);
+ }
+ 
+-void addChildJointNamesXML(boost::shared_ptr<const Link> link, ofstream& os)
++void addChildJointNamesXML(std::shared_ptr<const Link> link, ofstream& os)
+ {
+   double r, p, y;
+-  for (std::vector<boost::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++){
++  for (std::vector<std::shared_ptr<Link> >::const_iterator child = link->child_links.begin(); child != link->child_links.end(); child++){
+     (*child)->parent_joint->parent_to_joint_origin_transform.rotation.getRPY(r,p,y);
+     std::string jtype;
+     if ( (*child)->parent_joint->type == urdf::Joint::UNKNOWN ) {
+@@ -443,7 +443,7 @@ void addChildJointNamesXML(boost::shared
+     os << "    <axis   xyz=\"" <<  (*child)->parent_joint->axis.x << " ";
+     os << (*child)->parent_joint->axis.y << " " << (*child)->parent_joint->axis.z << "\"/>" << endl;
+     {
+-      boost::shared_ptr<urdf::Joint> jt((*child)->parent_joint);
++      std::shared_ptr<urdf::Joint> jt((*child)->parent_joint);
+ 
+       if ( !!jt->limits ) {
+         os << "    <limit ";
+@@ -501,7 +501,7 @@ void addChildJointNamesXML(boost::shared
+   }
+ }
+ 
+-void printTreeXML(boost::shared_ptr<const Link> link, string name, string file)
++void printTreeXML(std::shared_ptr<const Link> link, string name, string file)
+ {
+   std::ofstream os;
+   os.open(file.c_str());
+@@ -667,7 +667,7 @@ int main(int argc, char** argv)
+   }
+   xml_file.close();
+ 
+-  boost::shared_ptr<ModelInterface> robot;
++  std::shared_ptr<ModelInterface> robot;
+   if( xml_string.find("<COLLADA") != std::string::npos )
+   {
+     ROS_DEBUG("Parsing robot collada xml string");