Merge pull request #330 from bulwahn/indigo-updates

Updating to ROS Indigo Distribution

README.md

@@ -7,7 +7,7 @@ Currently, this layer is still under continuous development.
   * Source Code Repository: https://github.com/bmwcarit/meta-ros.git
   * Issue Tracker: https://github.com/bmwcarit/meta-ros/issues
   * Mailing List: https://groups.google.com/forum/#!forum/meta-ros
-  * Installation Guide: http://wiki.ros.org/hydro/Installation/OpenEmbedded
+  * Installation Guide: http://wiki.ros.org/indigo/Installation/OpenEmbedded
   * Development Guides:
     * https://github.com/bmwcarit/meta-ros/wiki/Guidelines-for-ROS-recipes
     * https://github.com/bmwcarit/meta-ros/wiki/Developer-Guidelines
@@ -153,13 +153,13 @@ Currently, this layer is still under continuous development.
 
   to the /etc/hosts file, and set up the environment with
 
-    export ROS_ROOT=/opt/ros/hydro
-    export PATH=$PATH:/opt/ros/hydro/bin
-    export LD_LIBRARY_PATH=/opt/ros/hydro/lib
-    export PYTHONPATH=/opt/ros/hydro/lib/python2.7/site-packages
+    export ROS_ROOT=/opt/ros/indigo
+    export PATH=$PATH:/opt/ros/indigo/bin
+    export LD_LIBRARY_PATH=/opt/ros/indigo/lib
+    export PYTHONPATH=/opt/ros/indigo/lib/python2.7/site-packages
     export ROS_MASTER_URI=http://localhost:11311
-    export CMAKE_PREFIX_PATH=/opt/ros/hydro
-    touch /opt/ros/hydro/.catkin
+    export CMAKE_PREFIX_PATH=/opt/ros/indigo
+    touch /opt/ros/indigo/.catkin
 
   Finally, you can start roscore with
 

conf/layer.conf

@@ -10,4 +10,4 @@ BBFILE_PRIORITY_ros-layer = "7"
 
 LICENSE_PATH += "${LAYERDIR}/licenses"
 
-ROSDISTRO := "hydro"
+ROSDISTRO := "indigo"

recipes-devtools/python/python-urlgrabber_3.9.1.bb

@@ -0,0 +1,15 @@
+DESCRIPTION = "A high-level cross-protocol url-grabber"
+SECTION = "devel/python"
+LICENSE = "LGPL-2.1"
+LIC_FILES_CHKSUM = "file://LICENSE;md5=68ad62c64cc6c620126241fd429e68fe"
+SRCNAME = "urlgrabber"
+
+DEPENDS = "python-pycurl-native python-pycurl"
+
+SRC_URI = "https://pypi.python.org/packages/source/u/${SRCNAME}/${SRCNAME}-${PV}.tar.gz"
+SRC_URI[md5sum] = "00c8359bf71062d0946bacea521f80b4"
+SRC_URI[sha256sum] = "4437076c8708e5754ea04540e46c7f4f233734ee3590bb8a96389264fb0650d0"
+
+S = "${WORKDIR}/${SRCNAME}-${PV}"
+
+inherit distutils

recipes-extended/bfl/bfl_0.7.0-6.bb

@@ -5,11 +5,11 @@ LIC_FILES_CHKSUM = "file://COPYING;md5=7fbc338309ac38fefcd64b04bb903e34"
 
 DEPENDS = "cppunit boost"
 
-SRC_URI = "https://github.com/ros-gbp/${PN}-release/archive/release/hydro/${PN}/${PV}.tar.gz"
-SRC_URI[md5sum] = "0ef8a8dd76d7ecc78cd8f9aab80ba5a5"
-SRC_URI[sha256sum] = "ecc97e979e47eefeade93c6e3905420b3e780ea434247cd2171a5f4d731352f9"
+SRC_URI = "https://github.com/ros-gbp/${PN}-release/archive/release/indigo/${PN}/${PV}.tar.gz"
+SRC_URI[md5sum] = "8140555e28ddea22a10a9ec59d96a4a0"
+SRC_URI[sha256sum] = "296bec7f11430dd99a9617333d91c5c94ccf96ef6a4aa242917cc19480169740"
 
-S = "${WORKDIR}/bfl-release-release-hydro-${P}"
+S = "${WORKDIR}/bfl-release-release-indigo-${P}"
 
 inherit cmake faulty-solibs
 

recipes-ros/actionlib/actionlib/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch

@@ -1,33 +0,0 @@
-From ee8607f48165af73c23b1210179a88ff1d08e5bf Mon Sep 17 00:00:00 2001
-From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
-Date: Tue, 4 Feb 2014 16:00:25 +0100
-Subject: [PATCH] make rostest in CMakeLists optional (ros/rosdistro#3010)
-
-Upstream-Status: Backport [Accepted in indigo-devel branch]
----
- CMakeLists.txt | 3 ++-
- 1 file changed, 2 insertions(+), 1 deletion(-)
-
-diff --git a/CMakeLists.txt b/CMakeLists.txt
-index 9a3652f..16adefe 100644
---- a/CMakeLists.txt
-+++ b/CMakeLists.txt
-@@ -1,7 +1,7 @@
- cmake_minimum_required(VERSION 2.8.3)
- project(actionlib)
- 
--find_package(catkin REQUIRED COMPONENTS actionlib_msgs message_generation roscpp rostest rosunit std_msgs)
-+find_package(catkin REQUIRED COMPONENTS actionlib_msgs message_generation roscpp rosunit std_msgs)
- find_package(Boost REQUIRED COMPONENTS thread)
- 
- include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
-@@ -34,5 +34,6 @@ install(DIRECTORY include/${PROJECT_NAME}/
-   FILES_MATCHING PATTERN "*.h")
- 
- if(CATKIN_ENABLE_TESTING)
-+  find_package(rostest)
-   add_subdirectory(test)
- endif()
--- 
-1.8.3.2
-

recipes-ros/actionlib/actionlib_1.11.3.bb

@@ -7,9 +7,7 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9de
 DEPENDS = "actionlib-msgs roscpp"
 
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "2e13067c3c85e81a3ab4b603ff15e45b"
-SRC_URI[sha256sum] = "f71df286552e6bf3a03ef83635342d3bdd6eef836e7b0565dccd2d341dbeaa11"
-
-SRC_URI += "file://0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch"
+SRC_URI[md5sum] = "d7b1b2b5cac0e1177171a56cc1e7187a"
+SRC_URI[sha256sum] = "69f12ecb01b33a992d343c6fb306d678ea61bffda796e0648cd72085793ded32"
 
 inherit catkin

recipes-ros/ar-track-alvar-msgs/ar-track-alvar-msgs_0.5.1.bb

@@ -0,0 +1,14 @@
+DESCRIPTION = "This package is a ROS wrapper for Alvar, an open source AR tag tracking library."
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "message-generation geometry-msgs std-msgs"
+
+SRC_URI = "https://github.com/sniekum/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "c82bf63ab8ab5630fedc29e872138fc9"
+SRC_URI[sha256sum] = "27e4ebed675c79b41a545614f5a95798c1740e487b65fc45ac356c7298330a80"
+
+S = "${WORKDIR}/${ROS_SP}"
+
+inherit catkin

recipes-ros/ar-track-alvar/ar-track-alvar_0.4.2.bb

@@ -1,14 +0,0 @@
-DESCRIPTION = "This package is a ROS wrapper for Alvar, an open source AR tag tracking library."
-SECTION = "devel"
-LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=f62de161dc7a8f859a0502707b17209e"
-
-DEPENDS = "cmake-modules cv-bridge image-transport libtinyxml pcl-ros resource-retriever roscpp tf visualization-msgs"
-
-SRC_URI = "git://github.com/sniekum/${ROS_SPN}.git;protocol=https;branch=hydro-devel"
-# commit df56a7429 is intended to be version 0.4.2
-SRCREV = "df56a742976712a1de7212039de8056c93b39375"
-
-S = "${WORKDIR}/git"
-
-inherit catkin

recipes-ros/ar-track-alvar/ar-track-alvar_0.5.1.bb

@@ -0,0 +1,14 @@
+DESCRIPTION = "This package is a ROS wrapper for Alvar, an open source AR tag tracking library."
+SECTION = "devel"
+LICENSE = "LGPL-2.1"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=f62de161dc7a8f859a0502707b17209e"
+
+DEPENDS = "ar-track-alvar-msgs cmake-modules cv-bridge image-transport libtinyxml pcl-ros resource-retriever roscpp tf visualization-msgs"
+
+SRC_URI = "https://github.com/sniekum/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "5d55aaf9098c1b803f9ed93e3c5fbacd"
+SRC_URI[sha256sum] = "b8c1c28afaf16c03f37067ae2653f5df7d0a15fdb75a27c0a2f4da9c2f89d92e"
+
+S = "${WORKDIR}/${ROS_SP}"
+
+inherit catkin

recipes-ros/catkin/catkin.inc

@@ -6,8 +6,8 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc
 DEPENDS = "cmake python-empy python-catkin-pkg python-empy-native python-catkin-pkg-native"
 
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "a0dd74c4a665a56b02af9f8c873c451d"
-SRC_URI[sha256sum] = "71441206945e8d77dace831375effde5b5f54b95e3a054106848432eceec58c0"
+SRC_URI[md5sum] = "e6d1090589026746c94d8fae78015167"
+SRC_URI[sha256sum] = "0ca265803be8a2c1b6036d67ed63505551f4bbc02fa6cb8180dc3167b9f3afc9"
 
 SRC_URI += "file://0001-CATKIN_WORKSPACES-Don-t-require-.catkin-file.patch\
             file://0002-PKG_CONFIG_LIB_PATHS-use-cmake-root-path.patch"

recipes-ros/class-loader/class-loader_0.3.1.bb

@@ -8,11 +8,11 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "console-bridge libpoco"
+DEPENDS = "cmake-modules console-bridge libpoco"
 
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "cb3a369025092087d5c47dbfbb8e9439"
-SRC_URI[sha256sum] = "84fc8e32648fb8c76a58d4e116884b9c6f28470c60d9508d4aeb18d407f42940"
+SRC_URI[md5sum] = "6919e079a0be77e9a3199ac97fa2751e"
+SRC_URI[sha256sum] = "f48bad942d7feda76925bb8529c97f8ca8ffb8d45a04de3232650b4d4acaa821"
 
 S = "${WORKDIR}/${ROS_SP}"
 

recipes-ros/common-msgs/common-msgs.inc

@@ -1,6 +1,6 @@
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "1ed0d70623bd8c744ab366e12ec21d43"
-SRC_URI[sha256sum] = "a13245a1de4c9cb87b88b99938279181d324cf885026008d36fa70e7bc231227"
+SRC_URI[md5sum] = "755ed777cf76844952a4cb896a1b5b05"
+SRC_URI[sha256sum] = "b0f5a18f09ae6ccbb7cdaed9bebcbdde4dcfa09792c79f81a9afeb9be342b2c9"
 
 DEPENDS += "cpp-common roscpp-serialization message-generation message-runtime std-msgs"
 

recipes-ros/common-tutorials/actionlib-tutorials_0.1.8.bb

@@ -1,7 +1,7 @@
 DESCRIPTION = "The actionlib_tutorials package"
 SECTION = "devel"
 LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "roscpp actionlib message-generation std-msgs actionlib-msgs"
 

recipes-ros/common-tutorials/common-tutorials.inc

@@ -1,6 +1,6 @@
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "0055265f3854afcf4cc0abff06a9f023"
-SRC_URI[sha256sum] = "257f45f36463d5ffc04e1d60ac1fc6a2e7c1b11d012daa43b2eb43001383048c"
+SRC_URI[md5sum] = "5c8282a3d4b100bcdd2b6fd5e619f35a"
+SRC_URI[sha256sum] = "5be04cdcfbc569d7b89c306628fd4414a3e2972ad2154548df2b86d4056393d9"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 

recipes-ros/common-tutorials/nodelet-tutorial-math_0.1.8.bb

@@ -1,7 +1,7 @@
 DESCRIPTION = "nodelet_tutorial_math ROS package"
 SECTION = "devel"
 LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "roscpp nodelet std-msgs"
 

recipes-ros/common-tutorials/pluginlib-tutorials_0.1.8.bb

@@ -1,7 +1,7 @@
 DESCRIPTION = "pluginlib_tutorials ROS package"
 SECTION = "devel"
 LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=d566ef916e9dedc494f5f793a6690ba5"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "roscpp pluginlib"
 

recipes-ros/console-bridge/console-bridge_0.2.7.bb

@@ -11,8 +11,8 @@ LIC_FILES_CHKSUM = "\
 DEPENDS = "boost"
 
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "e484d34bf0170ee12311d0fc6dd5f4fe"
-SRC_URI[sha256sum] = "d4bdd0b6bce0c6fa9ff18b8926d4953161451bc49dd11497211eb1a62cfe72b7"
+SRC_URI[md5sum] = "061ae26707cc56db1bb80421abf6c3f0"
+SRC_URI[sha256sum] = "9145f0f97337fc87b4c062a4bab6874e383dad3a303486b635d31af69ee0d536"
 
 S = "${WORKDIR}/${ROS_SP}"
 

recipes-ros/control-msgs/control-msgs_1.3.1.bb

@@ -7,8 +7,8 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=d566ef916e9de
 DEPENDS = "message-generation std-msgs trajectory-msgs geometry-msgs actionlib-msgs"
 
 SRC_URI = "https://github.com/ros-controls/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "aeb714ca2cddc7d1a20a4bc67b0e1b10"
-SRC_URI[sha256sum] = "7d7eb32a98dbb10ecca7de28dbfc403974966f0e5f435e9798e3277d1acbf77f"
+SRC_URI[md5sum] = "5cecfc4a80df27ee0ec5046d6d8bf6fd"
+SRC_URI[sha256sum] = "578be636504dc6ca895876eda36741fbf1ca4b0bb034904912f37729436d40df"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 

recipes-ros/control-toolbox/control-toolbox_1.13.2.bb

@@ -7,8 +7,8 @@ DEPENDS = "rosconsole tf roscpp angles message-generation dynamic-reconfigure li
     realtime-tools message-filters"
 
 SRC_URI = "https://github.com/ros-controls/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "28f8bc6536401456b207e20b4de2e8b3"
-SRC_URI[sha256sum] = "0fe2964d156f8bc1af89cca66007d46ef9c71cc2c4d34dfb0c7070c72b7141f6"
+SRC_URI[md5sum] = "40bc1f04e5936b7fee824f6717702a62"
+SRC_URI[sha256sum] = "270f9df4c8f64b629b873ada6dec202c90da24f3060c8e0e337e9e2528c29064"
 
 S = "${WORKDIR}/${ROS_SP}"
 

recipes-ros/convex-decomposition/convex-decomposition_0.1.10.bb

@@ -4,8 +4,8 @@ LICENSE = "MIT"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=58e54c03ca7f821dd3967e2a2cd1596e"
 
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "c3e3f14cec67ccfd2e569b025ffeb3b5"
-SRC_URI[sha256sum] = "6f382de77af6fc8bf203338f6a95dd4f2603c6e4a5e30c47951cc53135f5a35f"
+SRC_URI[md5sum] = "aff65d84fa5a5dd48769f226f9262d79"
+SRC_URI[sha256sum] = "0c31ce26ecc73c5d53be18ddb01021d8d59cf5907397207b61b6ab7cfff167f4"
 
 S = "${WORKDIR}/${ROS_SP}"
 

recipes-ros/dynamic-reconfigure/dynamic-reconfigure_1.5.38.bb

@@ -7,8 +7,8 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc
 DEPENDS = "roscpp std-msgs roslib"
 
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "38248b33c5c8bc6d97d8f9e3ae349016"
-SRC_URI[sha256sum] = "5f2c978861d6273af9fc40ff53b457d15b871ea7276278dcbd3eb9ba70044da3"
+SRC_URI[md5sum] = "ceddcb66706b328ca725218c2e2d4d3f"
+SRC_URI[sha256sum] = "2f1160877ddd9f77d7cb9b9fc32479424fba4b973c08752437a56bb38a1e368c"
 
 S = "${WORKDIR}/${ROS_SP}"
 

recipes-ros/executive-smach/executive-smach.inc

@@ -1,6 +1,6 @@
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "1a8ae6b09936f75bf2bdb8300b46fb2f"
-SRC_URI[sha256sum] = "12da6987a028b49dab269105519a4b23ce3a67cfeba475cd5b2b35ea8b23adf4"
+SRC_URI[md5sum] = "c5a9abf8db49abfbb05cb3ed88ef1931"
+SRC_URI[sha256sum] = "48f11db9a1be8accf6bce4dc20efa825f8fab1697d8620690eb51051ddd2c6b3"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 

recipes-ros/executive-smach/smach-ros_2.0.0.bb

@@ -3,4 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=17;endline=17;md5=d566ef916e9dedc494f5f793a6690ba5"
 
+DEPENDS = "rostest"
+
 require executive-smach.inc

recipes-ros/freenect-stack/freenect-stack.inc

@@ -1,6 +1,6 @@
 SRC_URI = "https://github.com/ros-drivers/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "6a360b208435b23ec1f55ffcfa5ec6b8"
-SRC_URI[sha256sum] = "2e62ca45afacc1d0129bee3f2672f7b677315fc98317d1380cb74842025e0811"
+SRC_URI[md5sum] = "3a6a07a9a11b28074f2b2c6dba8e102e"
+SRC_URI[sha256sum] = "7c3e8e564674cf4a21796d98ceb26e34d0750e53a3593d1fade44338eb45ae31"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 

recipes-ros/frontier-exploration/frontier-exploration_0.3.0.bb

@@ -7,8 +7,8 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=13;endline=13;md5=1e7b3bcc2e271
 DEPENDS = "geometry-msgs roscpp pcl costmap-2d actionlib move-base-msgs visualization-msgs tf"
 
 SRC_URI = "https://github.com/paulbovbel/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "05c1be2938dcb998deba340012b5b91a"
-SRC_URI[sha256sum] = "a26149014a5ded055f5424d97d3621bcfd7f472fc0664ef61f76ed2f114a6e20"
+SRC_URI[md5sum] = "a27eb097cb0fd2b0a381ffae1461e06a"
+SRC_URI[sha256sum] = "991a1350ab3daab7665251215105f25fb107ae5b0a0337fbdcd9adea4d7b72d3"
 
 S = "${WORKDIR}/${ROS_SP}"
 

recipes-ros/gencpp/gencpp_0.5.3.bb

@@ -6,7 +6,7 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc
 DEPENDS = "genmsg"
 
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "ce9811cd733632b06716adf9e8ddd94b"
-SRC_URI[sha256sum] = "364ec362655a79f8ec22580c736e8c21ff39c3f5f2597a6a088150ffd567650d"
+SRC_URI[md5sum] = "409006f065c6d4993734aec7efcbc180"
+SRC_URI[sha256sum] = "0959b1dee8682a30a97fedbebfa2dd04ca4de598f215626b873cb0b7ad1dfd14"
 
 inherit catkin

recipes-ros/genmsg/genmsg_0.5.6.bb

@@ -4,8 +4,8 @@ LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "20e50f93a1faa507f024a10f7d9c0383"
-SRC_URI[sha256sum] = "bd032aa99ce01cc4b2785a9c55cc3f18fb2712ef1af0a5347cf0dd6636a86efc"
+SRC_URI[md5sum] = "df017d0804f4fb2bb79a2579635451ee"
+SRC_URI[sha256sum] = "70ec083888f8bbdc32cf6b97cdbc3ccc042fe78ad2e6f6fc60b414aaffd8fba6"
 
 inherit catkin
 

recipes-ros/genpy/genpy_0.5.4.bb

@@ -6,8 +6,8 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc
 DEPENDS = "genmsg"
 
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "2795b9479e9e64f22f2190b85a6a41fc"
-SRC_URI[sha256sum] = "2bb21cadf9f7635e0567520680b979f156e70fba673b0a82f09cad4553f7f372"
+SRC_URI[md5sum] = "6b1fe67407f9d49ebdd58cf53a125109"
+SRC_URI[sha256sum] = "0e9e79f680b0cd6e10a34dbd3328079bf9d54c214453ca71653cd5683900ea4c"
 
 inherit catkin
 

recipes-ros/geometric-shapes/geometric-shapes_0.4.3.bb

@@ -1,13 +1,13 @@
 DESCRIPTION = "This package contains generic definitions of geometric shapes and bodies."
 SECTION = "devel"
 LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://package.xml;beginline=8;endline=8;md5=5ee5b8b046ae48ad94a2037ca953a67b"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=5ee5b8b046ae48ad94a2037ca953a67b"
 
 DEPENDS = "boost shape-msgs shape-tools octomap assimp libeigen qhull console-bridge random-numbers eigen-stl-containers resource-retriever"
 
 SRC_URI = "https://github.com/ros-planning/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "c8e43ebaa2bcb0a12a006ed61b265b74"
-SRC_URI[sha256sum] = "fa16bd0a8311ebe9e0cd11fcb5a4f41039275cd7f1aeb88b0e8d4f983a2d13f7"
+SRC_URI[md5sum] = "050b4bb8eb25202269f3733ebbcd986f"
+SRC_URI[sha256sum] = "9030b7713ca397852f7d0d19caf18ddd7c93ff0236c19e31d01e72e655bc407b"
 
 S = "${WORKDIR}/${ROS_SP}"
 

recipes-ros/geometry-experimental/geometry-experimental.inc

@@ -1,6 +1,6 @@
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "3a1f1f5dc4d0196611ea0222079b8222"
-SRC_URI[sha256sum] = "a01f439cb3a935f51aa20db686b3e4d7d2d446d8362435046fa10c375590534b"
+SRC_URI[md5sum] = "8d561c38e936c5dd646123ecff64a043"
+SRC_URI[sha256sum] = "4e0defcfc1bece7e497bdec0c307e4b78af83e85fec298351b1b0c13fed8c4f5"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 

recipes-ros/geometry-experimental/tf2-sensor-msgs_0.5.11.bb

@@ -0,0 +1,8 @@
+DESCRIPTION = "Small lib to transform sensor_msgs with tf"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=9;endline=9;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "cmake-modules libeigen sensor-msgs tf2-ros tf2"
+
+require geometry-experimental.inc

recipes-ros/geometry/geometry.inc

@@ -1,6 +1,6 @@
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "f5e00ace1447819774d72be99bf09989"
-SRC_URI[sha256sum] = "a32eea3dc00f80b3ba0d525e44073389a3569ae7a5250eab26ee8f0a623ffd2a"
+SRC_URI[md5sum] = "5c09987b0185183d54522e92bf64d6f3"
+SRC_URI[sha256sum] = "fbfbc707d239a76f7258372cb73a78341c0433d990d6f053340417c5ecb84231"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 

recipes-ros/geometry/tf/0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch

@@ -1,35 +0,0 @@
-From 18e81e33c052e26ae60259708095a2a933f75fd1 Mon Sep 17 00:00:00 2001
-From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
-Date: Tue, 4 Feb 2014 16:02:48 +0100
-Subject: [PATCH] make rostest in CMakeLists optional (ros/rosdistro#3010)
-
-Upstream-Status: Backport [Accepted in indigo-devel branch]
----
- tf/CMakeLists.txt | 4 +++-
- 1 file changed, 3 insertions(+), 1 deletion(-)
-
-diff --git a/tf/CMakeLists.txt b/tf/CMakeLists.txt
-index fa4a42f..c6988e1 100644
---- a/tf/CMakeLists.txt
-+++ b/tf/CMakeLists.txt
-@@ -4,7 +4,7 @@ project(tf)
- find_package(catkin REQUIRED)
- 
- find_package(Boost REQUIRED thread signals)
--find_package(catkin REQUIRED angles geometry_msgs message_filters message_generation rosconsole roscpp rostest rostime sensor_msgs std_msgs tf2_ros)
-+find_package(catkin REQUIRED angles geometry_msgs message_filters message_generation rosconsole roscpp rostime sensor_msgs std_msgs tf2_ros)
- 
- catkin_python_setup()
- 
-@@ -48,6 +48,8 @@ target_link_libraries(static_transform_publisher ${PROJECT_NAME})
- # Tests
- if(CATKIN_ENABLE_TESTING)
- 
-+find_package(rostest)
-+
- catkin_add_gtest(tf_unittest test/tf_unittest.cpp)
- target_link_libraries(tf_unittest ${PROJECT_NAME})
- 
--- 
-1.8.3.2
-

recipes-ros/geometry/tf_1.11.7.bb

@@ -7,6 +7,4 @@ DEPENDS = "angles geometry-msgs message-filters sensor-msgs tf2-ros"
 
 require geometry.inc
 
-SRC_URI += "file://0001-make-rostest-in-CMakeLists-optional-ros-rosdistro-30.patch;striplevel=2"
-
 RDEPENDS_${PN} = "python-numpy"

recipes-ros/image-common/image-common.inc

@@ -1,6 +1,6 @@
 SRC_URI = "https://github.com/ros-perception/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "521131894d5913b517a1dc0df77609c5"
-SRC_URI[sha256sum] = "7268c166edcd6c74d618c8a2b9bc33bd41725afeced12c5e727b590fd81433ee"
+SRC_URI[md5sum] = "9083bc555db70ec92f0225877ac0f47b"
+SRC_URI[sha256sum] = "43eda1dde34d1126093769e401e63742144e302059d8d4f01f441409daa56b9e"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 

recipes-ros/image-pipeline/depth-image-proc_1.12.13.bb

@@ -3,6 +3,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=14;endline=14;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "boost cv-bridge libeigen image-geometry image-transport message-filters nodelet pcl-conversions pcl-ros sensor-msgs stereo-msgs tf"
+DEPENDS = "boost cv-bridge eigen-conversions image-geometry image-transport message-filters nodelet sensor-msgs stereo-msgs tf2 tf2-ros"
 
 require image-pipeline.inc

recipes-ros/image-pipeline/image-pipeline.inc

@@ -1,6 +1,6 @@
 SRC_URI = "https://github.com/ros-perception/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "20619df602ed8be775ca441166f05600"
-SRC_URI[sha256sum] = "c204c7ad095b9a2378c00d37e5635388120658658c4bf9511d4bac91fda586e1"
+SRC_URI[md5sum] = "21da9a0411616c2d24f0462363bb5a2a"
+SRC_URI[sha256sum] = "9d58e569d160bc2184e1344b98e14b5b0d503236d8fc52cdb7a91fd0ef7ac667"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 

recipes-ros/image-pipeline/image-rotate_1.12.13.bb

@@ -4,6 +4,6 @@ SECTION = "devel"
 LICENSE = "BSD"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=26;endline=26;md5=d566ef916e9dedc494f5f793a6690ba5"
 
-DEPENDS = "cv-bridge dynamic-reconfigure image-transport opencv roscpp tf tf-conversions eigen-conversions nodelet"
+DEPENDS = "cmake-modules cv-bridge dynamic-reconfigure eigen-conversions image-transport nodelet opencv roscpp tf2 tf2-geometry-msgs tf2-ros"
 
 require image-pipeline.inc

recipes-ros/image-transport-plugins/image-transport-plugins.inc

@@ -1,6 +1,6 @@
 SRC_URI = "https://github.com/ros-perception/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "71d4c0694abdde174f419ede8a29d4ee"
-SRC_URI[sha256sum] = "ef07479ea4bd4cb7a6ca3225009f1af623fecdd84d1bbc83d982613ca1070cc8"
+SRC_URI[md5sum] = "c1655d3e40d00e5f8c5d4e75d9e1185e"
+SRC_URI[sha256sum] = "b610f50cdbab30abaa94980b22a444c5d898c571e3f57f0cf83ecde53877fdf0"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 

recipes-ros/imu-pipeline/imu-pipeline.inc

@@ -0,0 +1,9 @@
+SRC_URI = "https://github.com/ros-perception/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
+SRC_URI[md5sum] = "095c1dd8ed0fbd5775ba6986f4e4a074"
+SRC_URI[sha256sum] = "91e0d491bd08dce8629876bf6005a1aaabcb130413ed749c4ab168e17f0118fa"
+
+S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
+
+inherit catkin
+
+ROS_SPN = "imu_pipeline"

recipes-ros/imu-pipeline/imu-pipeline_0.1.2.bb

@@ -1,14 +0,0 @@
-DESCRIPTION = "IMU Pipeline includes tools for processing and pre-processing IMU messages for easier use by later subscribers."
-SECTION = "devel"
-LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=d566ef916e9dedc494f5f793a6690ba5"
-
-DEPENDS = "roscpp sensor-msgs geometry-msgs nav-msgs tf"
-
-SRC_URI = "https://github.com/ros-perception/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "aebca1dfdce3cb8034cd4d203485e40e"
-SRC_URI[sha256sum] = "bb49464de2f2b9c63c31e2bf61804c24a69ee448c1d76e3ff978b4bef9c7cd87"
-
-S = "${WORKDIR}/${ROS_SP}"
-
-inherit catkin

recipes-ros/imu-pipeline/imu-processors_0.2.1.bb

@@ -0,0 +1,8 @@
+DESCRIPTION = "Processors for sensor_msgs::Imu data"
+SECTION = "devel"
+LICENSE = "BSD"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=6;endline=6;md5=d566ef916e9dedc494f5f793a6690ba5"
+
+DEPENDS = "roscpp sensor-msgs geometry-msgs nav-msgs tf"
+
+require imu-pipeline.inc

recipes-ros/imu-pipeline/imu-transformer/0001-CMakeLists.txt-check-launch-file-if-testing-is-on.patch

@@ -0,0 +1,58 @@
+From 3a821331fb0884607b6c77865ed9fbc1e8197e20 Mon Sep 17 00:00:00 2001
+From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+Date: Sat, 28 Feb 2015 20:55:42 +0100
+Subject: [PATCH] CMakeLists.txt: check launch file if testing is on
+
+When building with CATKIN_ENABLE_TESTING deactivated, configure
+fails with:
+
+| -- Using CATKIN_ENABLE_TESTING: 0
+| -- catkin 0.6.14
+| -- Using these message generators: gencpp;genlisp;genpy
+| CMake Error at /opt/ros/indigo/share/roslaunch/cmake/roslaunch-extras.cmake:35 (catkin_run_tests_target):
+|   Unknown CMake command "catkin_run_tests_target".
+| Call Stack (most recent call first):
+|   CMakeLists.txt:34 (roslaunch_add_file_check)
+|
+|
+| -- Configuring incomplete, errors occurred!
+
+Configure fails as the test command 'catkin_run_tests_target' is
+only defined in catkin if CATKIN_ENABLE_TESTING is enabled.
+Hence, this commit changes CMakeLists.txt so that the command is
+only used if CATKIN_ENABLE_TESTING is enabled.
+
+Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
+
+Upstream-Status: Submitted [https://github.com/ros-perception/imu_pipeline/pull/6]
+---
+ imu_transformer/CMakeLists.txt | 6 ++++--
+ 1 file changed, 4 insertions(+), 2 deletions(-)
+
+diff --git a/imu_transformer/CMakeLists.txt b/imu_transformer/CMakeLists.txt
+index 9a498dc..7a9dfc6 100644
+--- a/imu_transformer/CMakeLists.txt
++++ b/imu_transformer/CMakeLists.txt
+@@ -5,7 +5,6 @@ find_package(catkin REQUIRED COMPONENTS
+   message_filters
+   nodelet
+   roscpp
+-  roslaunch
+   sensor_msgs
+   geometry_msgs
+   tf2
+@@ -31,7 +30,10 @@ target_link_libraries(imu_transformer_nodelet ${catkin_LIBRARIES})
+ add_executable(imu_transformer_node src/imu_transformer_node.cpp)
+ target_link_libraries(imu_transformer_node ${catkin_LIBRARIES})
+ 
+-roslaunch_add_file_check(launch)
++if(CATKIN_ENABLE_TESTING)
++  find_package(roslaunch REQUIRED)
++  roslaunch_add_file_check(launch)
++endif()
+ 
+ install(TARGETS imu_transformer_node imu_transformer_nodelet
+ 	RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+-- 
+1.9.3
+

recipes-ros/imu-pipeline/imu-transformer_0.2.1.bb

@@ -0,0 +1,12 @@
+DESCRIPTION = "Node/nodelet combination to transform sensor_msgs::Imu data \
+  from one frame into another."
+SECTION = "devel"
+LICENSE = "GPL"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=7;endline=7;md5=162b49cfbae9eadf37c9b89b2d2ac6be"
+
+DEPENDS = "geometry-msgs nodelet message-filters roscpp roslaunch sensor-msgs \
+  tf2 tf2-ros tf2-sensor-msgs topic-tools"
+
+require imu-pipeline.inc
+
+SRC_URI += "file://0001-CMakeLists.txt-check-launch-file-if-testing-is-on.patch;striplevel=2"

recipes-ros/ivcon/ivcon_0.1.5.bb

@@ -4,7 +4,7 @@ LICENSE = "GPL"
 LIC_FILES_CHKSUM = "file://package.xml;beginline=18;endline=18;md5=162b49cfbae9eadf37c9b89b2d2ac6be"
 
 SRC_URI = "https://github.com/ros/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "eb0600372f526407d010eca4384de309"
-SRC_URI[sha256sum] = "78c1ad40708a359c4d4648fbcba538379ad07fc49d7aa7ca676591e2d5c66344"
+SRC_URI[md5sum] = "632f9a1faaf05ba1e92e133156af9434"
+SRC_URI[sha256sum] = "cc79cfe48a7630c32c0e0d4418e87e868c6ac377fab959c23f966a00e3b01120"
 
 inherit catkin

recipes-ros/joystick-drivers/joystick-drivers.inc

@@ -1,6 +1,6 @@
 SRC_URI = "https://github.com/ros-drivers/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "ded8d0f0eda389413a5fea470cc81ae2"
-SRC_URI[sha256sum] = "b261fd559749135e7a3ce3d6a33e700a3631e2dc100456a6f66541ad3d6956ed"
+SRC_URI[md5sum] = "65e20a0b03e89c48d2de4625d8a40581"
+SRC_URI[sha256sum] = "da6fddad4ebaff99d37bf7746bed9b8ea3e5ab5ce8af6bcc4faa22cbc68641d5"
 
 S = "${WORKDIR}/${ROS_SP}/${ROS_BPN}"
 

recipes-ros/laser-filters/laser-filters_1.7.3.bb

@@ -7,8 +7,8 @@ LIC_FILES_CHKSUM = "file://package.xml;beginline=10;endline=10;md5=d566ef916e9de
 DEPENDS = "angles filters laser-geometry message-filters pluginlib roscpp sensor-msgs tf"
 
 SRC_URI = "https://github.com/ros-perception/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "4ca45f1df93c382ceaf86646940380bc"
-SRC_URI[sha256sum] = "cd8c3fe908956677998061f6b3f812c5a5efa508c88064385ec6fe87cb041aec"
+SRC_URI[md5sum] = "e2d4af91ee2472b76a3a805d6db35998"
+SRC_URI[sha256sum] = "a6dff576ea05fb165b7c85cd5eab65970abbd6bb84339f41bad37a89c439492f"
 
 S = "${WORKDIR}/${ROS_SP}"
 

recipes-ros/laser-geometry/laser-geometry_1.6.4.bb

@@ -3,13 +3,13 @@ sensor_msgs/LaserScan into a point cloud as defined by sensor_msgs/PointCloud \
 or sensor_msgs/PointCloud2."
 SECTION = "devel"
 LICENSE = "BSD"
-LIC_FILES_CHKSUM = "file://package.xml;beginline=11;endline=11;md5=d566ef916e9dedc494f5f793a6690ba5"
+LIC_FILES_CHKSUM = "file://package.xml;beginline=12;endline=12;md5=d566ef916e9dedc494f5f793a6690ba5"
 
 DEPENDS = "angles boost libeigen sensor-msgs roscpp tf"
 
 SRC_URI = "https://github.com/ros-perception/${ROS_SPN}/archive/${PV}.tar.gz;downloadfilename=${ROS_SP}.tar.gz"
-SRC_URI[md5sum] = "7ce41e57b1fdedee4bb4d181e7dd150b"
-SRC_URI[sha256sum] = "7f3a8a9c2ebf0d93014ff62fc1dd38999945ea1bffb5fe30c7622e8765ea3e5d"
+SRC_URI[md5sum] = "1ee7479b8c5914b4ffae996945121441"
+SRC_URI[sha256sum] = "8daf8b8b571ca915d8ccbe517af5e6e69a2083a663c5ba4e89a29aa92a58abdb"
 
 S = "${WORKDIR}/${ROS_SP}"
 

recipes-ros/navigation/dwa-local-planner/0001-link-only-libraries-found-with-find_package.patch

@@ -1,51 +0,0 @@
-From 2cb85fa4b189ea62bc918a5fc54bb6ba73a6e125 Mon Sep 17 00:00:00 2001
-From: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
-Date: Thu, 19 Feb 2015 08:18:03 +0100
-Subject: [PATCH] link only libraries found with find_package
-
-When cross-compiling dwa_local_planner with the OpenEmbedded layer
-for ROS, meta-ros [1], I stumbled over the following issue. During
-'Linking CXX shared library devel/lib/libdwa_local_planner.so', the
-g++ call for this linking step includes amongst many other arguments
-these two arguments in this order:
-
-  -lbase_local_planner /[...]/sysroots/qemux86/opt/ros/hydro/lib/libbase_local_planner.so
-
-In the meta-ros setup, the linker aborts with:
-  .../sysroots/x86_64-linux/usr/libexec/i586-oe-linux/gcc/i586-oe-linux/4.9.1/ld: cannot find -lbase_local_planner
-
-The linking fails, because in the cross-compiling scenario,
--lbase_local_planner is not resolved. However, cmake and the
-find_package command is set up such that the pathes are resolved
-correctly in this setting. To use these correct pathes, the
-link_target_libraries should not hard-code the library name, but
-only use the libraries found with find_package.
-
-Probably, this has not been noticed before, as in the common setup,
-find_package resolved to the hard-coded value.
-
-[1] https://github.com/bmwcarit/meta-ros/
-
-Signed-off-by: Lukas Bulwahn <lukas.bulwahn@oss.bmw-carit.de>
-
-Upstream-Status: Accepted [in indigo-devel branch]
----
- dwa_local_planner/CMakeLists.txt | 2 +-
- 1 file changed, 1 insertion(+), 1 deletion(-)
-
-diff --git a/dwa_local_planner/CMakeLists.txt b/dwa_local_planner/CMakeLists.txt
-index e68286e..6e9a11a 100644
---- a/dwa_local_planner/CMakeLists.txt
-+++ b/dwa_local_planner/CMakeLists.txt
-@@ -42,7 +42,7 @@ catkin_package(
- )
- 
- add_library(dwa_local_planner src/dwa_planner.cpp src/dwa_planner_ros.cpp)
--target_link_libraries(dwa_local_planner base_local_planner ${catkin_LIBRARIES})
-+target_link_libraries(dwa_local_planner ${catkin_LIBRARIES})
- add_dependencies(dwa_local_planner dwa_local_planner_gencfg)
- add_dependencies(dwa_local_planner nav_msgs_gencpp)
- 
--- 
-1.8.3.2
-

recipes-ros/navigation/dwa-local-planner_1.12.4.bb

@@ -8,5 +8,3 @@ DEPENDS = "base-local-planner costmap-2d dynamic-reconfigure libeigen nav-core \
     nav-msgs pluginlib pcl-conversions roscpp tf"
 
 require navigation.inc
-
-SRC_URI += "file://0001-link-only-libraries-found-with-find_package.patch;striplevel=2"