From af651ad6ab2fa3d15d701d59f6ed2afa7b1dfb63 Mon Sep 17 00:00:00 2001
From: Florent Lamiraux <florent@laas.fr>
Date: Thu, 19 Dec 2019 18:14:53 +0100
Subject: [PATCH] Remove dependencies to tf2_bullet and bullet.
---
CMakeLists.txt | 6 +-----
src/converter.hh | 3 ---
2 files changed, 1 insertion(+), 8 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 52906b4..bb57afa 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -80,8 +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(bullet)
-add_required_dependency(tf2_bullet)
ADD_REQUIRED_DEPENDENCY("dynamic-graph >= 3.0.0")
ADD_REQUIRED_DEPENDENCY("sot-core >= 3.0.0")
@@ -100,7 +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)
@@ -119,7 +116,6 @@ macro(compile_plugin NAME)
pkg_config_use_dependency(${NAME} dynamic-graph)
pkg_config_use_dependency(${NAME} sot-core)
pkg_config_use_dependency(${NAME} dynamic_graph_bridge_msgs)
- pkg_config_use_dependency(${NAME} bullet)
add_dependencies(${NAME} ros_bridge)
target_link_libraries(${NAME} ros_bridge)
set_target_properties(${NAME} PROPERTIES BUILD_WITH_INSTALL_RPATH True)
@@ -191,7 +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}
)
diff --git a/src/converter.hh b/src/converter.hh
index 48add3f..82034e6 100644
--- a/src/converter.hh
+++ b/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)
--
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