require version >= 0.4 of urdfdom

Author: rhaschke

urdf/package.xml

@@ -1,6 +1,6 @@
 <package format="2">
   <name>urdf</name>
-  <version>1.12.12</version>
+  <version>1.13.0</version>
   <description>
     This package contains a C++ parser for the Unified Robot Description
     Format (URDF), which is an XML format for representing a robot model.
@@ -21,23 +21,23 @@
 
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>liburdfdom-dev</build_depend>
-  <build_depend>liburdfdom-headers-dev</build_depend>
+  <build_depend version_gte="0.5">urdfdom</build_depend>
+  <build_depend version_gte="0.5">urdfdom_headers</build_depend>
   <build_depend>rosconsole_bridge</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>urdf_parser_plugin</build_depend>
   <build_depend>pluginlib</build_depend>
   <build_depend>cmake_modules</build_depend>
   <build_depend>tinyxml</build_depend>
 
-  <exec_depend>liburdfdom-dev</exec_depend>
+  <exec_depend version_gte="0.5">liburdfdom-dev</exec_depend>
   <exec_depend>rosconsole_bridge</exec_depend>
   <exec_depend>roscpp</exec_depend>
   <exec_depend>pluginlib</exec_depend>
   <exec_depend>tinyxml</exec_depend>
 
   <build_export_depend>tinyxml</build_export_depend>
-  <build_export_depend>liburdfdom-headers-dev</build_export_depend>
+  <build_export_depend version_gte="0.5">liburdfdom-headers-dev</build_export_depend>
 
   <test_depend>rostest</test_depend>
 

urdf/urdfdom_compatibility.h.in

@@ -41,9 +41,8 @@
 #define URDFDOM_HEADERS_MINOR_VERSION @URDFDOM_HEADERS_MINOR_VERSION@
 #define URDFDOM_HEADERS_REVISION_VERSION @URDFDOM_HEADERS_REVISION_VERSION@
 
-// Define shared pointers for urdfdom versions less than 0.4
-// Plus define ModelSharedPtr for 0.4
-#if URDFDOM_HEADERS_MAJOR_VERSION == 0 && URDFDOM_HEADERS_MINOR_VERSION <= 4
+// for Wily: maintain compatibility between urdfdom 0.3 and 0.4 (definining SharedPtr types)
+#if URDFDOM_HEADERS_MAJOR_VERSION < 1
 
 #include <boost/shared_ptr.hpp>
 #include <boost/weak_ptr.hpp>
@@ -84,7 +83,7 @@ URDF_TYPEDEF_CLASS_POINTER(Model);
 
 #undef URDF_TYPEDEF_CLASS_POINTER
 
-#else // urdfdom <= 0.4
+#else // urdfdom < 1.0
 
 #include <urdf_model/types.h>
 #include <urdf_world/types.h>
@@ -102,6 +101,6 @@ typedef std::shared_ptr<const Model> ModelConstSharedPtr;
 typedef std::weak_ptr<Model> ModelWeakPtr;
 }
 
-#endif // urdfdom > 0.4
+#endif // urdfdom >= 1.0
 
 #endif // URDF_URDFDOM_COMPATIBILITY_