Fix to compile on melodic #365
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Mistakes were found. Current changes cause build failure on kinetic. I'll fix them. |
On kinetic, urdf uses boost::shared_ptr, so we have to use boost::shared_ptr and boost::const_pointer_cast. On melodic, urdf uses std::shared_ptr, so we have to use std::shared_ptr and std::const_pointer_cast.
This was fixed via 419da9a. |
k-okada
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May 1, 2020
fixed version of tork-a#365
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This PR enables this repository to be compiled on melodic.
On melodic, C++14 is standard (see https://www.ros.org/reps/rep-0003.html#c).We have to use
std::shared_ptrandstd::const_pointer_castinstead ofboost::ones when C++ is upper than C++11, so this PR makes the software to usestd::ones only when C++ is upper than C++11.On melodic, C++14 is standard (see https://www.ros.org/reps/rep-0003.html#c) and urdf uses
std::shared_ptrinstead ofboost::shared_ptr.urdf::Model::getLinkreturnsstd::shared_ptr(see getLink declaration and LinkConstSharedPtr declaration)urdf::Link::parent_jointwhich storesurdf::Jointisstd::shared_ptr(see parent_joint declaration and JointSharedPtr declaration)So on melodic, we have to use
std::const_pointer_castto handle the returned value ofurdf::Model::getLinkand usestd::shared_ptrto storeurdf::Link::parent_joint.Related issue: ros-industrial/fanuc#241