conanfile.py: update urdfdom

conanfile.py

@@ -150,7 +150,7 @@ def requirements(self):
             self.requires("tinyobjloader/2.0.0-rc10")
             self.requires("liblzf/3.6")
         if "kinematics" in modules:
-            self.requires("urdfdom/3.1.1")
+            self.requires("urdfdom/4.0.0@cupoch")
         if "visualization" in modules:
             self.requires("glew/2.2.0")
             self.requires("glfw/3.3.8")

third_party/conan-recipes/urdfdom/conandata.yml

@@ -0,0 +1,16 @@
+sources:
+  "4.0.0":
+    urdfdom:
+      url: "https://github.com/ros/urdfdom/archive/refs/tags/4.0.0.tar.gz"
+      sha256: "9848d106dc88dc0b907d5667c09da3ca53241fbcf17e982d8c234fe3e0d6ddcc"
+    urdfdom_headers:
+      url: "https://github.com/ros/urdfdom_headers/archive/refs/tags/1.1.1.zip"
+      sha256: "dde77e3dd96ffa41e2ee0a20bddcd6ef05863e95ce0143ede77130d8cd46c644"
+patches:
+  "4.0.0":
+    - patch_file: "patches/001-optional-build-apps.patch"
+      patch_type: "conan"
+      patch_description: "Disable building of apps by default"
+    - patch_file: "patches/002-use-conan-dependencies.patch"
+      patch_type: "conan"
+      patch_description: "Use dependencies from Conan, use merged urdfdom_headers"

third_party/conan-recipes/urdfdom/conanfile.py

@@ -0,0 +1,116 @@
+import os
+
+from conan import ConanFile
+from conan.tools.build import check_min_cppstd
+from conan.tools.cmake import CMake, CMakeDeps, CMakeToolchain, cmake_layout
+from conan.tools.files import apply_conandata_patches, copy, export_conandata_patches, get, replace_in_file, rm, rmdir
+from conan.tools.scm import Version
+
+required_conan_version = ">=1.53.0"
+
+
+class PackageConan(ConanFile):
+    name = "urdfdom"
+    version = "4.0.0"
+    description = "Data structures and parsers to access URDF files using the DOM model"
+    license = "BSD-3-Clause"
+    url = "https://github.com/conan-io/conan-center-index"
+    homepage = "https://github.com/ros/urdfdom"
+    topics = ("urdf", "ros", "robotics")
+    package_type = "library"
+    settings = "os", "arch", "compiler", "build_type"
+    options = {
+        "shared": [True, False],
+        "fPIC": [True, False],
+    }
+    default_options = {
+        "shared": False,
+        "fPIC": True,
+    }
+
+    @property
+    def _min_cppstd(self):
+        return 14
+
+    def export_sources(self):
+        export_conandata_patches(self)
+
+    def config_options(self):
+        if self.settings.os == "Windows":
+            del self.options.fPIC
+
+    def configure(self):
+        if self.options.shared:
+            self.options.rm_safe("fPIC")
+
+    def layout(self):
+        cmake_layout(self, src_folder="src")
+
+    def requirements(self):
+        if Version(self.version) >= "4.0":
+            self.requires("tinyxml2/10.0.0", transitive_headers=True, transitive_libs=True)
+        else:
+            self.requires("tinyxml/2.6.2", transitive_headers=True, transitive_libs=True)
+        self.requires("console_bridge/1.0.2")
+
+    def validate(self):
+        if self.settings.compiler.cppstd:
+            check_min_cppstd(self, self._min_cppstd)
+
+    def source(self):
+        # urdfdom packages its headers separately as urdfdom_headers.
+        # There is no obvious benefit of doing the same for the Conan package,
+        # so we simply merge the headers into the main source tree.
+        sources = self.conan_data["sources"][self.version]
+        get(self, **sources["urdfdom_headers"], strip_root=True,
+            destination=os.path.join(self.source_folder, "urdf_parser"))
+        get(self, **sources["urdfdom"], strip_root=True, destination=self.source_folder)
+
+    def generate(self):
+        tc = CMakeToolchain(self)
+        tc.variables["APPEND_PROJECT_NAME_TO_INCLUDEDIR"] = False
+        tc.variables["BUILD_TESTING"] = False
+        tc.variables["BUILD_APPS"] = False
+        if not self.options.shared:
+            tc.preprocessor_definitions["URDFDOM_STATIC"] = "1"
+        # Need to set CMP0077 because CMake policy version is too old (3.5 as of v4.0.0)
+        tc.cache_variables["CMAKE_POLICY_DEFAULT_CMP0077"] = "NEW"
+        tc.generate()
+        CMakeDeps(self).generate()
+
+    def _patch_sources(self):
+        apply_conandata_patches(self)
+        # Do not hard-code libraries to SHARED
+        parser_cmakelists = os.path.join(self.source_folder, "urdf_parser", "CMakeLists.txt")
+        replace_in_file(self, parser_cmakelists, " SHARED", "")
+
+    def build(self):
+        self._patch_sources()
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def package(self):
+        copy(self, "LICENSE", self.source_folder, os.path.join(self.package_folder, "licenses"))
+        cmake = CMake(self)
+        cmake.install()
+        # Copy urdfdom_headers
+        copy(self, "*",
+             src=os.path.join(self.source_folder, "urdf_parser", "include"),
+             dst=os.path.join(self.package_folder, "include"))
+        rmdir(self, os.path.join(self.package_folder, "lib", "pkgconfig"))
+        rmdir(self, os.path.join(self.package_folder, "lib", "urdfdom"))
+        rmdir(self, os.path.join(self.package_folder, "CMake"))
+        rmdir(self, os.path.join(self.package_folder, "share"))
+        rm(self, "*.pdb", self.package_folder, recursive=True)
+
+    def package_info(self):
+        self.cpp_info.libs = [
+            "urdfdom_model",
+            "urdfdom_model_state",
+            "urdfdom_sensor",
+            "urdfdom_world",
+        ]
+
+        if not self.options.shared:
+            self.cpp_info.defines.append("URDFDOM_STATIC=1")

third_party/conan-recipes/urdfdom/patches/001-optional-build-apps.patch

@@ -0,0 +1,34 @@
+--- urdf_parser/CMakeLists.txt
++++ urdf_parser/CMakeLists.txt
+@@ -81,6 +81,7 @@
+
+ # --------------------------------
+
++if(BUILD_APPS)
+ add_executable(check_urdf src/check_urdf.cpp)
+ target_include_directories(check_urdf PUBLIC include)
+ target_link_libraries(check_urdf urdfdom_model urdfdom_world)
+@@ -97,6 +98,7 @@
+ add_executable(urdf_mem_test test/memtest.cpp)
+ target_include_directories(urdf_mem_test PUBLIC include)
+ target_link_libraries(urdf_mem_test urdfdom_model)
++endif()
+
+ include(CTest)
+ if(BUILD_TESTING)
+@@ -104,6 +106,7 @@
+   add_subdirectory(test)
+ endif()
+
++if(BUILD_APPS)
+ INSTALL(
+   TARGETS
+   check_urdf
+@@ -114,6 +117,7 @@
+   LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+   ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+ )
++endif()
+ INSTALL(
+   TARGETS
+   urdfdom_model

third_party/conan-recipes/urdfdom/patches/002-use-conan-dependencies.patch

@@ -0,0 +1,14 @@
+--- CMakeLists.txt
++++ CMakeLists.txt
+@@ -45,11 +45,8 @@
+
+ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+
+-find_package(tinyxml2_vendor QUIET)
+ find_package(TinyXML2 REQUIRED)
+
+-find_package(urdfdom_headers 1.0 REQUIRED)
+-find_package(console_bridge_vendor QUIET) # Provides console_bridge 0.4.0 on platforms without it.
+ find_package(console_bridge REQUIRED)
+
+ # Control where libraries and executables are placed during the build

third_party/conan-recipes/urdfdom/test_package/CMakeLists.txt

@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 3.15)
+project(test_package CXX)
+
+find_package(urdfdom REQUIRED CONFIG)
+
+add_executable(${PROJECT_NAME} test_package.cpp)
+target_link_libraries(${PROJECT_NAME} PRIVATE urdfdom::urdfdom)
+target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_14)

third_party/conan-recipes/urdfdom/test_package/conanfile.py

@@ -0,0 +1,26 @@
+from conan import ConanFile
+from conan.tools.build import can_run
+from conan.tools.cmake import cmake_layout, CMake
+import os
+
+
+class TestPackageConan(ConanFile):
+    settings = "os", "arch", "compiler", "build_type"
+    generators = "CMakeDeps", "CMakeToolchain", "VirtualRunEnv"
+    test_type = "explicit"
+
+    def requirements(self):
+        self.requires(self.tested_reference_str)
+
+    def layout(self):
+        cmake_layout(self)
+
+    def build(self):
+        cmake = CMake(self)
+        cmake.configure()
+        cmake.build()
+
+    def test(self):
+        if can_run(self):
+            bin_path = os.path.join(self.cpp.build.bindir, "test_package")
+            self.run(bin_path, env="conanrun")

third_party/conan-recipes/urdfdom/test_package/test_package.cpp

@@ -0,0 +1,15 @@
+#include <cstdlib>
+#include <iostream>
+#include <string>
+
+#include <urdf_parser/urdf_parser.h>
+
+int main() {
+    std::string test_str =
+        "<robot name=\"test\" version=\"1.0\">"
+        "  <link name=\"l1\"/>"
+        "</robot>";
+    urdf::ModelInterfaceSharedPtr urdf = urdf::parseURDF(test_str);
+    std::cout << "urdf::parseURDF() ran successfully" << std::endl;
+    return EXIT_SUCCESS;
+}