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Fixes urdfdom_headers version compatibility (#162) 

Urdf changed their shared ptr type from boost to std. This PR detects which version of urdf is installed and uses the correct ptr type.
master
Atsushi Watanabe 2016-11-08 17:21:34 +09:00 committed by Holger Rapp
parent e8b5dd6465
commit 22d8573bd0
2 changed files with 11 additions and 0 deletions
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7
cartographer_ros/CMakeLists.txt
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@ -53,6 +53,13 @@ find_package(PCL REQUIRED COMPONENTS common io)
find_package(Eigen3 REQUIRED) find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED COMPONENTS system iostreams) find_package(Boost REQUIRED COMPONENTS system iostreams)
find_package(urdfdom_headers REQUIRED)
if(DEFINED urdfdom_headers_VERSION)
if(${urdfdom_headers_VERSION} GREATER 0.4.1)
add_definitions(-DURDFDOM_HEADERS_HAS_SHARED_PTR_DEFS)
endif()
endif()
add_subdirectory("cartographer_ros") add_subdirectory("cartographer_ros")
install(DIRECTORY launch urdf configuration_files install(DIRECTORY launch urdf configuration_files

4
cartographer_ros/cartographer_ros/assets_writer_main.cc
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@ -69,7 +69,11 @@ void ReadStaticTransformsFromUrdf(const string& urdf_filename,
::tf2_ros::Buffer* const buffer) { ::tf2_ros::Buffer* const buffer) {
urdf::Model model; urdf::Model model;
CHECK(model.initFile(urdf_filename)); CHECK(model.initFile(urdf_filename));
#if URDFDOM_HEADERS_HAS_SHARED_PTR_DEFS
std::vector<urdf::LinkSharedPtr> links;
#else
std::vector<boost::shared_ptr<urdf::Link>> links; std::vector<boost::shared_ptr<urdf::Link>> links;
#endif
model.getLinks(links); model.getLinks(links);
for (const auto& link : links) { for (const auto& link : links) {
if (!link->getParent() || link->parent_joint->type != urdf::Joint::FIXED) { if (!link->getParent() || link->parent_joint->type != urdf::Joint::FIXED) {