Format package.xml and CMakeLists.txt according to ros_control pkgs

ros-controls · Sep 25, 2020 · 96d114e · 96d114e
1 parent b78b932
commit 96d114e
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Showing 2 changed files with 31 additions and 9 deletions.
diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt
@@ -6,6 +6,7 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
 endif()
 
+# Load catkin and all dependencies required for this package
 find_package(catkin REQUIRED COMPONENTS
   controller_interface
   diff_drive_controller
@@ -21,6 +22,7 @@ find_package(Boost REQUIRED COMPONENTS system thread)
 
 find_package(urdfdom REQUIRED)
 
+# Declare a catkin package
 catkin_package(
   LIBRARIES ${PROJECT_NAME}
   CATKIN_DEPENDS
@@ -34,6 +36,11 @@ catkin_package(
   DEPENDS Boost
 )
 
+###########
+## Build ##
+###########
+
+# Specify header include paths
 include_directories(
   include
   ${Boost_INCLUDE_DIRS}
@@ -44,14 +51,9 @@ include_directories(
 add_library(${PROJECT_NAME} src/ackermann_steering_controller.cpp src/odometry.cpp)
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${urdfdom_LIBRARIES})
 
-install(TARGETS ${PROJECT_NAME}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
-install(FILES ${PROJECT_NAME}_plugins.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+#############
+## Testing ##
+#############
 
 if (CATKIN_ENABLE_TESTING)
   find_package(controller_manager REQUIRED)
@@ -125,3 +127,18 @@ if (CATKIN_ENABLE_TESTING)
   add_rostest(test/ackermann_steering_controller_radius_param_fail_test/ackermann_steering_controller_radius_param_fail.test)
   add_rostest(test/ackermann_steering_controller_separation_param_test/ackermann_steering_controller_separation_param.test)
 endif()
+
+#############
+## Install ##
+#############
+
+# Install targets
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Install plugins
+install(FILES ${PROJECT_NAME}_plugins.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/ackermann_steering_controller/package.xml b/ackermann_steering_controller/package.xml
@@ -1,15 +1,20 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model
+  href="http://download.ros.org/schema/package_format3.xsd"
+  schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>ackermann_steering_controller</name>
   <version>0.17.0</version>
   <description>Controller for a steer drive mobile base.</description>
+
   <maintainer email="[email protected]">Masaru Morita</maintainer>
   <maintainer email="[email protected]">Bence Magyar</maintainer>
 
   <license>BSD</license>
 
   <url type="bugtracker">https://github.com/ros-controls/ros_controllers/issues</url>
   <url type="repository">https://github.com/ros-controls/ros_controllers/ackermann_steering_controller</url>
+
   <author email="[email protected]">Masaru Morita</author>
 
   <buildtool_depend>catkin</buildtool_depend>