Merge pull request #8 from ori-drs/topic/fix-build-in-catkin-env

Fix build in catkin environment

CMakeLists.txt

@@ -7,7 +7,7 @@ SET(CUSTOM_HEADER_DIR "hpp/anymal-rbprm")
 SET(CXX_DISABLE_WERROR true)
 SET(PROJECT_USE_CMAKE_EXPORT TRUE)
 
-INCLUDE(cmake/hpp.cmake)
+INCLUDE(cmake/base.cmake)
 INCLUDE(cmake/python.cmake)
 
 COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)

anymal_rbprm/__init__.py

+from pathlib import Path
+
+
+def prefix():
+    """$prefix/lib/pythonX.Y/site-packages/$module/__init__.py: extract prefix from module"""
+    return Path(__file__).parent.parent.parent.parent.parent

anymal_rbprm/anymal.py

@@ -19,12 +19,6 @@
 from hpp.corbaserver.rbprm.rbprmfullbody import FullBody as Parent
 from pinocchio import SE3
 import numpy as np
-from pathlib import Path
-
-
-def prefix(module):
-    """$prefix/lib/pythonX.Y/site-packages/$module/__init__.py: extract prefix from module"""
-    return Path(module.__file__).parent.parent.parent.parent.parent
 
 
 class Robot(Parent):
@@ -131,9 +125,9 @@ class Robot(Parent):
     legy = 0.02
     import anymal_rbprm
     kinematic_constraints_path = str(
-        prefix(anymal_rbprm) / "share/anymal-rbprm/com_inequalities/feet_quasi_flat/anymal_")
+        anymal_rbprm.prefix() / "share/anymal-rbprm/com_inequalities/feet_quasi_flat/anymal_")
     relative_feet_constraints_path = str(
-        prefix(anymal_rbprm) / "share/anymal-rbprm/relative_effector_positions/anymal_")
+        anymal_rbprm.prefix() / "share/anymal-rbprm/relative_effector_positions/anymal_")
 
     minDist = 0.2
 

package.xml

 <?xml version='1.0'?>
-<package format='2'>
-    <name>anymal-rbprm</name>
+<package format='3'>
+    <name>anymal_rbprm</name>
     <version>4.12.0</version>
     <description>Database for anymal robot using hpp-rbprm</description>
 
@@ -10,5 +10,12 @@
     <author>Pierre Fernbach</author>
     <author>Steve Tonneau</author>
 
-    <buildtool_depend>catkin</buildtool_depend>
+    <!-- The following tags are recommended by REP-136 -->
+    <exec_depend condition="$ROS_VERSION == 1">catkin</exec_depend>
+    <buildtool_depend>cmake</buildtool_depend>
+    <depend condition="$ROS_PYTHON_VERSION == 2">python</depend>
+    <depend condition="$ROS_PYTHON_VERSION == 3">python3</depend>
+    <export>
+        <build_type>cmake</build_type>
+    </export>
 </package>