From b6772be9004af98f6d682dfe59fb0bd0f1e752f3 Mon Sep 17 00:00:00 2001
From: Steffen Planthaber <Steffen.Planthaber@dfki.de>
Date: Thu, 30 Mar 2017 11:04:07 +0200
Subject: [PATCH 1/4] adaptations to new rock-ros

---
 CMakeLists.txt | 7 ++++---
 manifest.xml   | 2 +-
 2 files changed, 5 insertions(+), 4 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c7b0562..bf2fccb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,11 +22,12 @@ link_directories(${OROCOS-RTT_LIBRARY_DIRS})
 add_definitions(${OROCOS-RTT_DEFINITIONS})
 
 if(NOT DEFINED ROS_FOUND)
-    find_package( ROS QUIET REQUIRED COMPONENTS roslib )
+	#    find_package( ROS QUIET REQUIRED COMPONENTS roslib )
+	find_package( roscpp )
 endif(NOT DEFINED ROS_FOUND)
 
-include_directories(${ROS_INCLUDE_DIRS})
-link_directories(${ROS_LIBRARY_DIRS})
+include_directories(${roscpp_INCLUDE_DIRS})
+link_directories(${roscpp_LIBRARY_DIRS})
 
 add_library(rtt-transport-ros-${OROCOS_TARGET} SHARED
     ros_publish_activity.cpp)
diff --git a/manifest.xml b/manifest.xml
index abac349..d79115b 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -4,7 +4,7 @@
     <author>Ruben Smits, ruben.smits@mech.kuleuven.be</author>
     <license>BSD</license>
     <url>http://ros.org/wiki/rtt_rosnode</url>
-    <depend package="roslib"/>
+
     <depend package="rtt"/>
 </package>
 

From 47f07bfcee2d44ad3d7cb13ae8053ac2900456f5 Mon Sep 17 00:00:00 2001
From: dmronga <dennis.mronga@dfki.de>
Date: Wed, 5 Jun 2019 15:53:43 +0200
Subject: [PATCH 2/4] Replace deprecated method from
 RTT::base::ChannelElementBase

---
 ros_msg_transporter.hpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/ros_msg_transporter.hpp b/ros_msg_transporter.hpp
index 160a9f9..7ca2de8 100644
--- a/ros_msg_transporter.hpp
+++ b/ros_msg_transporter.hpp
@@ -292,12 +292,12 @@ namespace ros {
         RTT::base::ChannelElementBase::shared_ptr tmp;
       if(is_sender){
         tmp = RTT::base::ChannelElementBase::shared_ptr(new RosPubChannelElement<T,Msg>(port,policy));
-        buf->setOutput(tmp);
+        buf->connectTo(tmp);
         return buf;
       }
       else{
         tmp = new RosSubChannelElement<T,Msg>(port,policy);
-        tmp->setOutput(buf);
+        tmp->connectTo(buf);
         return tmp;
       }
     }

From 4be6139705f6c71b7b330349e231ac76f5600125 Mon Sep 17 00:00:00 2001
From: dmronga <dennis.mronga@dfki.de>
Date: Thu, 6 Jun 2019 13:27:19 +0200
Subject: [PATCH 3/4] Use connectFrom() for incoming data

---
 ros_msg_transporter.hpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ros_msg_transporter.hpp b/ros_msg_transporter.hpp
index 7ca2de8..59c4edb 100644
--- a/ros_msg_transporter.hpp
+++ b/ros_msg_transporter.hpp
@@ -297,7 +297,7 @@ namespace ros {
       }
       else{
         tmp = new RosSubChannelElement<T,Msg>(port,policy);
-        tmp->connectTo(buf);
+        tmp->connectFrom(buf);
         return tmp;
       }
     }

From ac66de9a574d16358465891952cdd36365229d6c Mon Sep 17 00:00:00 2001
From: dmronga <dennis.mronga@dfki.de>
Date: Tue, 11 Jun 2019 11:41:04 +0200
Subject: [PATCH 4/4] Add RTT version check

---
 ros_msg_transporter.hpp | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/ros_msg_transporter.hpp b/ros_msg_transporter.hpp
index 59c4edb..47b0ea9 100644
--- a/ros_msg_transporter.hpp
+++ b/ros_msg_transporter.hpp
@@ -291,13 +291,22 @@ namespace ros {
         RTT::base::ChannelElementBase* buf = internal::ConnFactory::buildDataStorage<T>(policy);
         RTT::base::ChannelElementBase::shared_ptr tmp;
       if(is_sender){
+        
         tmp = RTT::base::ChannelElementBase::shared_ptr(new RosPubChannelElement<T,Msg>(port,policy));
+#if(RTT_VERSION_MAJOR >= 2 && RTT_VERSION_MINOR >= 8 && RTT_VERSION_PATCH >= 99)
         buf->connectTo(tmp);
+#else
+        buf->setOutput(tmp);
+#endif
         return buf;
       }
       else{
         tmp = new RosSubChannelElement<T,Msg>(port,policy);
+#if(RTT_VERSION_MAJOR >= 2 && RTT_VERSION_MINOR >= 8 && RTT_VERSION_PATCH >= 99)
         tmp->connectFrom(buf);
+#else
+        buf->setOutput(tmp);
+#endif
         return tmp;
       }
     }