From 4454e630e75c6672274880508e845f0fa79ae26f Mon Sep 17 00:00:00 2001
From: JeongBong Seo <jb.seo@lge.com>
Date: Mon, 1 Apr 2019 14:47:13 +0900
Subject: [PATCH] DRAFT nav2-map-server-0.1.7.inc: Remove bullet dependency

Backport https://github.com/ros-planning/navigation2/pull/594
---
 .../navigation2/nav2-map-server-0.1.7.inc     | 11 +++
 ...ullet-dependency-from-map_server-594.patch | 79 +++++++++++++++++++
 2 files changed, 90 insertions(+)
 create mode 100644 includes-ros2/navigation2/nav2-map-server-0.1.7.inc
 create mode 100644 includes-ros2/navigation2/nav2-map-server/0001-removed-bullet-dependency-from-map_server-594.patch

diff --git a/includes-ros2/navigation2/nav2-map-server-0.1.7.inc b/includes-ros2/navigation2/nav2-map-server-0.1.7.inc
new file mode 100644
index 0000000..b2ed1b7
--- /dev/null
+++ b/includes-ros2/navigation2/nav2-map-server-0.1.7.inc
@@ -0,0 +1,11 @@
+# Copyright (c) 2019 LG Electronics, Inc.
+
+# bullet appears in both ROS_BUILD_DEPENDS and ROS_EXPORT_DEPENDS, so it's easier to remove it from DEPENDS.
+DEPENDS_remove = "bullet"
+ROS_EXEC_DEPENDS_remove = "bullet"
+
+FILESEXTRAPATHS_prepend := "${THISDIR}/nav2-map-server:"
+
+SRC_URI += " \
+    file://0001-removed-bullet-dependency-from-map_server-594.patch \
+"
diff --git a/includes-ros2/navigation2/nav2-map-server/0001-removed-bullet-dependency-from-map_server-594.patch b/includes-ros2/navigation2/nav2-map-server/0001-removed-bullet-dependency-from-map_server-594.patch
new file mode 100644
index 0000000..38589c2
--- /dev/null
+++ b/includes-ros2/navigation2/nav2-map-server/0001-removed-bullet-dependency-from-map_server-594.patch
@@ -0,0 +1,79 @@
+From abae137977a7177704343d81814e863070986ab5 Mon Sep 17 00:00:00 2001
+From: Alberto Soragna <alberto.soragna@gmail.com>
+Date: Thu, 7 Mar 2019 20:47:48 +0000
+Subject: removed bullet dependency from map_server (#594)
+
+---
+ CMakeLists.txt          | 3 ---
+ package.xml             | 1 -
+ src/occ_grid_loader.cpp | 7 +++----
+ 3 files changed, 3 insertions(+), 8 deletions(-)
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index cd7724a..bed6272 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -5,7 +5,6 @@ find_package(ament_cmake REQUIRED)
+ find_package(nav2_common REQUIRED)
+ find_package(rclcpp REQUIRED)
+ find_package(nav_msgs REQUIRED)
+-find_package(Bullet REQUIRED)
+ find_package(SDL REQUIRED)
+ find_package(SDL_image REQUIRED)
+ find_package(yaml_cpp_vendor REQUIRED)
+@@ -16,7 +15,6 @@ nav2_package()
+ 
+ include_directories(
+   include
+-  ${BULLET_INCLUDE_DIRS}
+   ${SDL_INCLUDE_DIR}
+   ${SDL_IMAGE_INCLUDE_DIRS}
+ )
+@@ -76,7 +74,6 @@ target_link_libraries(${map_saver_executable}
+ )
+ 
+ target_link_libraries(${library_name}
+-  ${BULLET_LIBRARIES}
+   ${SDL_LIBRARY}
+   ${SDL_IMAGE_LIBRARIES}
+ )
+diff --git a/package.xml b/package.xml
+index 107c0d7..8a65c81 100644
+--- a/package.xml
++++ b/package.xml
+@@ -12,7 +12,6 @@
+   <buildtool_depend>ament_cmake</buildtool_depend>
+   <build_depend>nav2_common</build_depend>
+ 
+-  <depend>bullet</depend>
+   <depend>nav_msgs</depend>
+   <depend>std_msgs</depend>
+   <depend>rclcpp</depend>
+diff --git a/src/occ_grid_loader.cpp b/src/occ_grid_loader.cpp
+index 76b43b2..ae32b63 100644
+--- a/src/occ_grid_loader.cpp
++++ b/src/occ_grid_loader.cpp
+@@ -39,7 +39,7 @@
+ #include <memory>
+ #include <stdexcept>
+ 
+-#include "LinearMath/btQuaternion.h"
++#include "tf2/LinearMath/Quaternion.h"
+ #include "SDL/SDL_image.h"
+ 
+ using namespace std::chrono_literals;
+@@ -136,9 +136,8 @@ void OccGridLoader::loadMapFromFile(const std::string & map_name)
+   msg_.info.origin.position.x = origin_[0];
+   msg_.info.origin.position.y = origin_[1];
+   msg_.info.origin.position.z = 0.0;
+-  btQuaternion q;
+-  // setEulerZYX(yaw, pitch, roll)
+-  q.setEulerZYX(origin_[2], 0, 0);
++  tf2::Quaternion q;
++  q.setRPY(0, 0, origin_[2]);
+   msg_.info.origin.orientation.x = q.x();
+   msg_.info.origin.orientation.y = q.y();
+   msg_.info.origin.orientation.z = q.z();
+-- 
+2.17.1
+