Update to ROS 2 Humble

CMakeLists.txt

@@ -1,23 +1,19 @@
-cmake_minimum_required(VERSION 2.8)
+cmake_minimum_required(VERSION 3.16)
 project(nimbro_primitive_fitter)
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")                                         
-set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/cmake) # For finding custom .cmake files               
-
-find_package(catkin REQUIRED COMPONENTS
-    cmake_modules
-    roslib
-    roscpp
-    rospack
-    rosparam
-)
+SET(CMAKE_VERBOSE_MAKEFILE TRUE)
+SET(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17")
+set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${PROJECT_SOURCE_DIR}/cmake) # For finding custom .cmake files
+set(DISABLE_PAL_FLAGS true)
 
 find_package(Boost REQUIRED COMPONENTS system regex)
 find_package(Eigen3 REQUIRED)
 find_package(PugiXML REQUIRED)
 find_package(PkgConfig REQUIRED)
-
-pkg_check_modules(roboptim-capsule REQUIRED roboptim-capsule)
+find_package(roboptim-capsule REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
 
 include_directories(
     include
@@ -30,20 +26,20 @@ include_directories(
     contrib/approx_mvbb/external/GeometryPredicates/include/ApproxMVBB/GeometryPredicates
     ${catkin_INCLUDE_DIRS}
     ${EIGEN3_INCLUDE_DIR}
-    ${PUGIXML_INCLUDE_DIR} 
+    ${PUGIXML_INCLUDE_DIR}
     ${roboptim-capsule_INCLUDE_DIRS}
 )
 
 link_directories(
     ${roboptim-capsule_LIBRARY_DIRS}
 )
 
-catkin_package(
+#catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES nimbro_primitive_fitter
 #  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
-)
+#)
 
 add_library(approx_mvbb
     contrib/approx_mvbb/src/ApproxMVBB/AABB.cpp
@@ -60,17 +56,36 @@ add_library(approx_mvbb
     contrib/approx_mvbb/external/Diameter/src/EstimateDiameter.cpp
 )
 
-add_executable(nimbro_primitive_fitter 
+add_executable(nimbro_primitive_fitter
     src/primitive_fitter.cpp
     src/inertia.cpp
     src/util.cpp
     src/main.cpp
 )
 
 target_link_libraries(nimbro_primitive_fitter
-    ${catkin_LIBRARIES}
+    rclcpp::rclcpp
     ${PUGIXML_LIBRARIES}
-    ${roboptim-capsule_LIBRARIES}
+    roboptim-capsule::roboptim-capsule
     approx_mvbb
+  )
+
+
+string(REPLACE ";" " " WARNING_CXX_FLAGS "${WARNING_CXX_FLAGS_LIST}")
+
+set(CMAKE_CXX_FLAGS "${WARNING_CXX_FLAGS} ${CMAKE_CXX_FLAGS}")
+install(TARGETS
+  nimbro_primitive_fitter
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(TARGETS
+  approx_mvbb
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch models
+  DESTINATION share/${PROJECT_NAME}
 )
 
+ament_package()

include/nimbro_primitive_fitter/inertia.h

@@ -17,12 +17,5 @@ class MyEdge    : public vcg::Edge<MyUsedTypes> {};
 class MyMesh    : public vcg::tri::TriMesh< std::vector<MyVertex>, std::vector<MyFace> , std::vector<MyEdge>  > {};
 
 
-std::string getFileExtension(std::string meshfile);
+//std::string getFileExtension(std::string meshfile, const rclcpp::Node &nh);
 
-/*
- * Reads URDF and updates inertia values and center of mass for each link.
- * 'urdf_filename': Path of the URDF
- * 'visual': If true, visual meshes are used for calculation.
- *           If false, collision meshes are used.
- */
-void update_inertia(std::string in_filename, std::string out_filename, bool visual, const ros::NodeHandle nh);