Merge pull request #502 from bulwahn/mavros-update-v2

repair and update mavros to kinetic (resolves #489)

recipes-devtools/python/python-future.inc

@@ -0,0 +1,13 @@
+DESCRIPTION = "Clean single-source support for Python 3 and 2"
+SECTION = "devel/python"
+LICENSE = "MIT"
+LIC_FILES_CHKSUM = "file://LICENSE.txt;md5=3f457538b297bd0ef86564b8ac216ad7"
+SRCNAME = "future"
+
+SRC_URI = "https://pypi.python.org/packages/00/2b/8d082ddfed935f3608cc61140df6dcbf0edea1bc3ab52fb6c29ae3e81e85/future-${PV}.tar.gz"
+SRC_URI[md5sum] = "3e8e88a2bda48d54b1da7634d04760d7"
+SRC_URI[sha256sum] = "e39ced1ab767b5936646cedba8bcce582398233d6a627067d4c6a454c90cfedb"
+
+S = "${WORKDIR}/${SRCNAME}-${PV}"
+
+BBCLASSEXTEND += "native"

recipes-devtools/python/python-future_0.16.0.bb

@@ -0,0 +1,3 @@
+require python-future.inc
+
+inherit setuptools

recipes-devtools/python/python3-future_0.16.0.bb

@@ -0,0 +1,3 @@
+require python-future.inc
+
+inherit setuptools3

recipes-ros/mavlink/mavlink/0001-do-not-require-python2.patch

@@ -0,0 +1,45 @@
+From 9a48d109510a9e3592fb90bb1ab89853dfa62da3 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+Date: Sun, 7 May 2017 07:02:29 +0200
+Subject: [PATCH 1/2] do not require python2
+
+When only a python3 interpreter is available, CMake fails with:
+
+```
+| CMake Error at /home/lukas/work/repositories/openembedded.org/openembedded-core/build/tmp-glibc/work/core2-64-oe-linux/ros-mavlink/git-r0/recipe-sysroot-native/usr/share/cmake-3.7/Modules/FindPackageHandleStandardArgs.cmake:138 (message):
+|   Could NOT find PythonInterp (missing: PYTHON_EXECUTABLE) (Required is at
+|   least version "2")
+| Call Stack (most recent call first):
+|   /home/lukas/work/repositories/openembedded.org/openembedded-core/build/tmp-glibc/work/core2-64-oe-linux/ros-mavlink/git-r0/recipe-sysroot-native/usr/share/cmake-3.7/Modules/FindPackageHandleStandardArgs.cmake:378 (_FPHSA_FAILURE_MESSAGE)
+|   /home/lukas/work/repositories/openembedded.org/openembedded-core/build/tmp-glibc/work/core2-64-oe-linux/ros-mavlink/git-r0/recipe-sysroot-native/usr/share/cmake-3.7/Modules/FindPythonInterp.cmake:151 (FIND_PACKAGE_HANDLE_STANDARD_ARGS)
+|   CMakeLists.txt:22 (find_package)
+|
+|
+| -- Configuring incomplete, errors occurred!
+```
+
+After dropping this one line, CMake does not insist on python2,
+and configures mavlink successfully.
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+
+Upstream-Status: Pending
+---
+ CMakeLists.txt | 1 -
+ 1 file changed, 1 deletion(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index 594ecb3..26a4210 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -18,7 +18,6 @@ include(GNUInstallDirs)
+ set(CMAKE_INSTALL_LIBDIR lib)
+ 
+ # find libraries with cmake modules
+-set(PythonInterp_FIND_VERSION "2")
+ find_package(PythonInterp REQUIRED)
+ 
+ # Try to read package version from package.xml
+-- 
+1.9.1
+

recipes-ros/mavlink/mavlink/0002-provide-path-to-find-mavgen_c.patch

@@ -0,0 +1,43 @@
+From 6ac7498052f0e97e978c8adf887b9bbf851d58e2 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+Date: Sun, 7 May 2017 07:02:49 +0200
+Subject: [PATCH 2/2] provide path to find mavgen_c
+
+When compiling mavlink, it failed with:
+
+```
+| Generating C headers
+| Traceback (most recent call last):
+|   File "/home/lukas/work/repositories/openembedded.org/openembedded-core/build/tmp-glibc/work/core2-64-oe-linux/ros-mavlink/git-r0/git/pymavlink/tools/mavgen.py", line 30, in <module>
+|     mavgen.mavgen(args, args.definitions)
+|   File "/home/lukas/work/repositories/openembedded.org/openembedded-core/build/tmp-glibc/work/core2-64-oe-linux/ros-mavlink/git-r0/git/pymavlink/generator/mavgen.py", line 154, in mavgen
+|     mavgen_cpp11.generate(opts.output, xml)
+|   File "/home/lukas/work/repositories/openembedded.org/openembedded-core/build/tmp-glibc/work/core2-64-oe-linux/ros-mavlink/git-r0/git/pymavlink/generator/mavgen_cpp11.py", line 451, in generate
+|     import mavgen_c
+| ImportError: No module named 'mavgen_c'
+```
+
+This commit provides the path to find mavgen_c, as already done in
+many other places.
+
+Upstream-Status: Pending
+---
+ pymavlink/generator/mavgen_cpp11.py | 2 +-
+ 1 file changed, 1 insertion(+), 1 deletion(-)
+
+diff --git a/pymavlink/generator/mavgen_cpp11.py b/pymavlink/generator/mavgen_cpp11.py
+index 797ab2e..5fc824a 100644
+--- a/pymavlink/generator/mavgen_cpp11.py
++++ b/pymavlink/generator/mavgen_cpp11.py
+@@ -448,7 +448,7 @@ def generate_one(basename, xml):
+ def generate(basename, xml_list):
+     '''generate serialization MAVLink C++ implemenation'''
+     print("Generating C headers")
+-    import mavgen_c
++    from . import mavgen_c
+     mavgen_c.generate(basename, xml_list)
+     for xml in xml_list:
+         generate_one(basename, xml)
+-- 
+1.9.1
+

recipes-ros/mavlink/mavlink_git.bb

@@ -2,13 +2,14 @@ DESCRIPTION = "MAVLink message marshaling library"
 LICENSE = "LGPLv3"
 LIC_FILES_CHKSUM = "file://COPYING;md5=54ad3cbe91bebcf6b1823970ff1fb97f"
 
-SRC_URI = "git://github.com/mavlink/mavlink-gbp-release.git;branch=release/${ROSDISTRO}/mavlink"
+SRC_URI = "git://github.com/mavlink/mavlink-gbp-release.git;branch=release/kinetic/mavlink"
 SRCREV = "${AUTOREV}"
 
-SRC_URI += "file://0001-Fix-PKG_NAME-_INCLUDE_DIR-variable.patch"
+SRC_URI += "file://0001-do-not-require-python2.patch"
+SRC_URI += "file://0002-provide-path-to-find-mavgen_c.patch"
 
 S = "${WORKDIR}/git"
 
-DEPENDS = "python-setuptools-native"
+DEPENDS = "${PYTHON_PN}-setuptools-native ${PYTHON_PN}-future-native"
 
 inherit catkin

recipes-ros/mavros/libmavconn_0.18.7.bb

@@ -4,13 +4,13 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=15;endline=17;md5=9b511d4c606b1
 
 DEPENDS = " \
     boost \
-    ros-mavlink \
+    mavlink \
     console-bridge \
 "
 
 RDEPENDS_${PN} = " \
     boost \
-    ros-mavlink \
+    mavlink \
     console-bridge \
 "
 

recipes-ros/mavros/mavros.inc

@@ -1,5 +1,6 @@
 SRC_URI = "https://github.com/mavlink/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "eea22457db6c7b8a17bba0223a41dceb"
+SRC_URI[md5sum] = "88a94aeeeda9bc8f7e5b1997071464ac"
+SRC_URI[sha256sum] = "92e086072ac0641143b59d1dbda7ab54e5903d55001eaeceb34432efe3b07dcc"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 

recipes-ros/mavros/mavros/0001-always-find-Eigen-with-cmake_modules-mechanism.patch

@@ -0,0 +1,36 @@
+From d7b00940cb69d659d77bb08b1cbbf5aad4ea4617 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@gmail.com>
+Date: Sun, 7 May 2017 06:14:18 +0200
+Subject: [PATCH] always find Eigen with cmake_modules mechanism
+
+Upstream-Status: Pending
+---
+ mavros/CMakeLists.txt | 12 ++++--------
+ 1 file changed, 4 insertions(+), 8 deletions(-)
+
+diff --git a/mavros/CMakeLists.txt b/mavros/CMakeLists.txt
+index 3b3a0bd..bcc7924 100644
+--- a/mavros/CMakeLists.txt
++++ b/mavros/CMakeLists.txt
+@@ -26,14 +26,10 @@ find_package(catkin REQUIRED COMPONENTS
+ # find_package(Boost REQUIRED COMPONENTS system)
+ find_package(Boost REQUIRED COMPONENTS system)
+ 
+-find_package(Eigen3)
+-if(NOT EIGEN3_FOUND)
+-  # Fallback to cmake_modules
+-  find_package(cmake_modules REQUIRED)
+-  find_package(Eigen REQUIRED)
+-  set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+-  set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})
+-endif()
++find_package(cmake_modules REQUIRED)
++find_package(Eigen REQUIRED)
++set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
++set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})
+ 
+ include(EnableCXX11)
+ include(MavrosMavlink)
+-- 
+1.9.1
+

recipes-ros/mavros/mavros_0.18.7.bb

@@ -8,12 +8,12 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=14;md5=9b511d4c606b1
 DEPENDS = " \
     boost \
     libeigen \
-    ros-mavlink \
+    mavlink \
 "
 
 RDEPENDS_${PN} = " \
     boost \
-    ros-mavlink \
+    mavlink \
 "
 
 # ROS packages dependencies
@@ -47,3 +47,5 @@ RDEPENDS_${PN}_append = "${MAVROS_RUN_AND_BUILD_DEPENDS}"
 require mavros.inc
 
 ROS_PKG_SUBDIR = "mavros"
+
+SRC_URI += "file://0001-always-find-Eigen-with-cmake_modules-mechanism.patch;striplevel=2"

recipes-ros/packagegroups/packagegroup-ros-world.bb

@@ -184,9 +184,12 @@ RDEPENDS_${PN} = "\
     cv-camera \
     object-recognition-msgs \
     srdfdom \
+    libmavconn \
+    mavros \
+    mavros-extras \
+    mavlink \
 "
 
-# ros-mavlink fails while configuring; libmavconn, mavros, mavros-extras depend on ros-mavlink.
 # urdfdom-headers is an empty deploy package.
 # image-view requires gtk+, but it cannot be found by cmake for some reason.
 # sound-play requires python-gst (which is not available in any layers' master branch)

recipes-ros/ros-mavlink/files/0001-Fix-PKG_NAME-_INCLUDE_DIR-variable.patch

@@ -1,31 +0,0 @@
-From af522ba6b85be00a712618c719e831b941a8ffdc Mon Sep 17 00:00:00 2001
-From: Gustavo Jose de Sousa <gustavo.sousa@intel.com>
-Date: Wed, 16 Nov 2016 13:23:49 -0200
-Subject: [PATCH] Fix @PKG_NAME@_INCLUDE_DIR variable
-
-The previous approach hardcoded the path to the include directory and cross
-compilation using a sysroot directory would fail. This patch takes the
-resulting config files generated from other ROS packages as reference.
-
-Upstream-Status: Backport [https://github.com/mavlink/mavlink-gbp-release/pull/5]
----
- config.cmake.in | 3 ++-
- 1 file changed, 2 insertions(+), 1 deletion(-)
-
-diff --git a/config.cmake.in b/config.cmake.in
-index b62ab64..34bed61 100644
---- a/config.cmake.in
-+++ b/config.cmake.in
-@@ -3,7 +3,8 @@ if (@PKG_NAME@_CONFIG_INCLUDED)
- endif()
- set(@PKG_NAME@_CONFIG_INCLUDED TRUE)
- 
--set(@PKG_NAME@_INCLUDE_DIRS "@CMAKE_INSTALL_PREFIX@/include")
-+get_filename_component(include "${@PKG_NAME@_DIR}/../../../include" ABSOLUTE)
-+set(@PKG_NAME@_INCLUDE_DIRS ${include})
- set(@PKG_NAME@_DIALECTS @PKG_MAVLINK_DIALECTS@)
- set(@PKG2_NAME@_DIALECTS @PKG2_MAVLINK_DIALECTS@)
- 
--- 
-2.10.2
-