From bfd6d5487405500957dfa1b39a7e513ec172536a Mon Sep 17 00:00:00 2001
From: icolwell-as <48106342+icolwell-as@users.noreply.github.com>
Date: Tue, 9 Mar 2021 14:59:29 -0500
Subject: [PATCH] Noetic Release (#10)

* Update CMakeLists.txt and package.xml for ROS Noetic

* Update circleci config for Noetic
---
 .circleci/config.yml | 17 +++++++++--------
 CMakeLists.txt       | 25 +++++++++++--------------
 package.xml          | 10 +++++-----
 3 files changed, 25 insertions(+), 27 deletions(-)

diff --git a/.circleci/config.yml b/.circleci/config.yml
index 1e1294f..dcc693b 100644
--- a/.circleci/config.yml
+++ b/.circleci/config.yml
@@ -1,27 +1,28 @@
 version: 2
 jobs:
-  foxy:
+  noetic:
     docker:
-      - image: ros:foxy
+      - image: ros:noetic
     steps:
       - checkout
       - run:
           name: Set Up Container
           command: |
-            apt update -qq && apt install -y build-essential cmake python3-colcon-common-extensions python3-rosdep python3-pip
-            pip3 install --upgrade pytest
+            apt update -qq && apt install -y build-essential cmake python3-rosdep python3-catkin-tools python3-osrf-pycommon
             apt upgrade -y
-            source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
+            source /opt/ros/*/setup.bash
             mkdir -p src/radar_msgs && mv `find -maxdepth 1 -not -name . -not -name src` src/radar_msgs/
             rosdep update
             rosdep install -y --ignore-src --from-paths src
+            catkin init
       - run:
           name: Build
           command: |
-            source `find /opt/ros -maxdepth 2 -name local_setup.bash | sort | head -1`
-            colcon build --parallel-workers 1
+            source /opt/ros/*/setup.bash
+            ls src/radar_msgs
+            catkin build
 workflows:
   version: 2
   ros_build:
     jobs:
-      - foxy
+      - noetic
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f581ac8..ec34ed7 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,19 +1,16 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.0.2)
 project(radar_msgs)
 
-find_package(ament_cmake REQUIRED)
-find_package(builtin_interfaces REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-find_package(std_msgs REQUIRED)
-
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/RadarReturn.msg"
-  "msg/RadarScan.msg"
-  "msg/RadarTrack.msg"
-  "msg/RadarTracks.msg"
-  DEPENDENCIES builtin_interfaces std_msgs uuid_msgs geometry_msgs
+set(ROSPKG_DEPS
+  "std_msgs"
+  "uuid_msgs"
+  "geometry_msgs"
 )
 
-ament_export_dependencies(rosidl_default_runtime)
+find_package(catkin REQUIRED COMPONENTS message_generation ${ROSPKG_DEPS})
+
+add_message_files(DIRECTORY msg)
+
+generate_messages(DEPENDENCIES ${ROSPKG_DEPS})
 
-ament_package()
+catkin_package(CATKIN_DEPENDS message_runtime ${ROSPKG_DEPS})
diff --git a/package.xml b/package.xml
index 5f39c56..f38a0fc 100644
--- a/package.xml
+++ b/package.xml
@@ -7,17 +7,17 @@
   <maintainer email="stevenmacenski@gmail.com">Steve Macenski</maintainer>
   <license>Apache-2.0</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>message_generation</build_depend>
 
   <depend>std_msgs</depend>
   <depend>uuid_msgs</depend>
   <depend>geometry_msgs</depend>
-  <depend>rosidl_default_generators</depend>
-  <depend>builtin_interfaces</depend>
 
-  <member_of_group>rosidl_interface_packages</member_of_group>
+  <exec_depend>message_runtime</exec_depend>
 
   <export>
-    <build_type>ament_cmake</build_type>
+    <build_type>catkin</build_type>
   </export>
 </package>