Merge pull request #62 from florent-lamiraux/devel

Remove dependency to bullet.

CMakeLists.txt

@@ -80,7 +80,6 @@ dynamic_graph_bridge_msgs)
 add_required_dependency(roscpp)
 add_required_dependency(tf2_ros)
 add_required_dependency("realtime_tools >= 1.8")
-add_required_dependency(tf2_bullet)
 
 ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
 ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
@@ -99,7 +98,6 @@ add_library(ros_bridge
   include/dynamic_graph_bridge/ros_init.hh src/ros_init.cpp
   src/sot_to_ros.hh src/sot_to_ros.cpp
   )
-pkg_config_use_dependency(ros_bridge tf2_bullet)
 pkg_config_use_dependency(ros_bridge dynamic_graph_bridge_msgs)
 install(TARGETS ros_bridge DESTINATION lib)
 
@@ -189,7 +187,7 @@ generate_messages( DEPENDENCIES std_msgs )
 
 # This is necessary so that the pc file generated by catking is similar to the on
 # done directly by jrl-cmake-modules
-catkin_package(CATKIN_DEPENDS message_runtime roscpp realtime_tools tf2_bullet ${SOT_PKGNAMES} tf2_ros
+catkin_package(CATKIN_DEPENDS message_runtime roscpp realtime_tools ${SOT_PKGNAMES} tf2_ros
   LIBRARIES ${CATKIN_DEPENDS_LIBRARIES}
 )
 

package.xml

@@ -27,7 +27,6 @@
   <build_depend>realtime_tools</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>message_runtime</build_depend>
-  <build_depend>tf2_bullet</build_depend>
   <build_depend>dynamic-graph</build_depend>
   <build_depend>dynamic-graph-python</build_depend>
   <build_depend>sot-core</build_depend>
@@ -43,7 +42,6 @@
   <exec_depend>realtime_tools</exec_depend>
   <exec_depend>message_generation</exec_depend>
   <exec_depend>message_runtime</exec_depend>
-  <exec_depend>tf2_bullet</exec_depend>
   <exec_depend>dynamic-graph</exec_depend>
   <exec_depend>dynamic-graph-python</exec_depend>
   <exec_depend>sot-core</exec_depend>

src/converter.hh

@@ -10,9 +10,6 @@
 #include <ros/time.h>
 #include <std_msgs/Header.h>
 
-#include <LinearMath/btMatrix3x3.h>
-#include <LinearMath/btQuaternion.h>
-
 #define SOT_TO_ROS_IMPL(T) \
   template <>              \
   inline void converter(SotToRos<T>::ros_t& dst, const SotToRos<T>::sot_t& src)