From 96d114e152590a61d12ffb181cea7af9577d689c Mon Sep 17 00:00:00 2001
From: Mateus Amarante <mateus.amarujo@gmail.com>
Date: Thu, 10 Sep 2020 19:12:49 -0300
Subject: [PATCH] Format package.xml and CMakeLists.txt according to
 ros_control pkgs

---
 ackermann_steering_controller/CMakeLists.txt | 33 +++++++++++++++-----
 ackermann_steering_controller/package.xml    |  7 ++++-
 2 files changed, 31 insertions(+), 9 deletions(-)

diff --git a/ackermann_steering_controller/CMakeLists.txt b/ackermann_steering_controller/CMakeLists.txt
index 15e097ffd..3565ce125 100644
--- 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
index 46f6c3ea7..d6a265aab 100644
--- a/ackermann_steering_controller/package.xml
+++ b/ackermann_steering_controller/package.xml
@@ -1,8 +1,12 @@
 <?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="p595201m@mail.kyutech.jp">Masaru Morita</maintainer>
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
 
@@ -10,6 +14,7 @@
 
   <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="p595201m@mail.kyutech.jp">Masaru Morita</author>
 
   <buildtool_depend>catkin</buildtool_depend>