From 5e19781c23827a3e202dd1ad0ffd354948aa8f78 Mon Sep 17 00:00:00 2001
From: Jilada Eccleston <jilada.eccleston@gmail.com>
Date: Fri, 9 Oct 2020 17:38:21 +0900
Subject: [PATCH] ROS2 Porting: geo_pos_conv (#8)

* Convert to ROS2 package
 - Update changelog -> 2.0.0
 - Update package xml to use the ROS2 xml schema
 - Update CMakelist with ament cmake commands
 - Add ROS2 compile options

* Convert CMakelist for foxy

* Clean up
 - Remove comments

* Remove colcon ignore
---
 .../gnss/geo_pos_conv/CHANGELOG.rst           |  4 ++
 .../gnss/geo_pos_conv/CMakeLists.txt          | 52 ++++++++++++-------
 .../gnss/geo_pos_conv/COLCON_IGNORE           |  0
 .../gnss/geo_pos_conv/package.xml             | 24 ++++++---
 4 files changed, 56 insertions(+), 24 deletions(-)
 delete mode 100644 sensing/preprocessor/gnss/geo_pos_conv/COLCON_IGNORE

diff --git a/sensing/preprocessor/gnss/geo_pos_conv/CHANGELOG.rst b/sensing/preprocessor/gnss/geo_pos_conv/CHANGELOG.rst
index b7ef6bc731f65..ead6db443a672 100644
--- a/sensing/preprocessor/gnss/geo_pos_conv/CHANGELOG.rst
+++ b/sensing/preprocessor/gnss/geo_pos_conv/CHANGELOG.rst
@@ -2,6 +2,10 @@
 Changelog for package geo_pos_conv
 ^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+2.0.0 (2020-10-03)
+------------------
+* Convert package to ROS2
+
 1.11.0 (2019-03-21)
 -------------------
 * add constructor (`#1913 <https://github.com/CPFL/Autoware/issues/1913>`_)
diff --git a/sensing/preprocessor/gnss/geo_pos_conv/CMakeLists.txt b/sensing/preprocessor/gnss/geo_pos_conv/CMakeLists.txt
index 47d3ecb137a5b..e18c3c5b7384d 100644
--- a/sensing/preprocessor/gnss/geo_pos_conv/CMakeLists.txt
+++ b/sensing/preprocessor/gnss/geo_pos_conv/CMakeLists.txt
@@ -1,32 +1,48 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
 project(geo_pos_conv)
 
-find_package(catkin REQUIRED COMPONENTS roscpp)
+### Compile options
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wno-unused-parameter -Wall -Wextra -Wpedantic)
+endif()
 
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES geo_pos_conv
-)
+### Add dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
 
-include_directories(
-  include
-  ${catkin_INCLUDE_DIRS}
-)
 
+### Create library
 add_library(geo_pos_conv
   src/geo_pos_conv.cpp
 )
 
-target_link_libraries(geo_pos_conv
-  ${catkin_LIBRARIES}
+target_include_directories(geo_pos_conv
+  PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>
 )
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+ament_target_dependencies(geo_pos_conv rclcpp)
+
+### Install library
+ament_export_targets(geo_pos_conv HAS_LIBRARY_TARGET)
+ament_export_dependencies(rclcpp)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
 )
 
-install(TARGETS geo_pos_conv
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+install(
+  TARGETS geo_pos_conv
+  EXPORT geo_pos_conv
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
+  RUNTIME DESTINATION bin
+  INCLUDES DESTINATION include
 )
+
+ament_package()
diff --git a/sensing/preprocessor/gnss/geo_pos_conv/COLCON_IGNORE b/sensing/preprocessor/gnss/geo_pos_conv/COLCON_IGNORE
deleted file mode 100644
index e69de29bb2d1d..0000000000000
diff --git a/sensing/preprocessor/gnss/geo_pos_conv/package.xml b/sensing/preprocessor/gnss/geo_pos_conv/package.xml
index c4d8ae07cbb5f..6e2d3d54e6062 100644
--- a/sensing/preprocessor/gnss/geo_pos_conv/package.xml
+++ b/sensing/preprocessor/gnss/geo_pos_conv/package.xml
@@ -1,12 +1,24 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>geo_pos_conv</name>
-  <version>0.1.0</version>
-  <description>The geo_pos_conv package</description>
+  <version>2.0.0</version>
+  <description>The ROS2 geo_pos_conv package</description>
   <maintainer email="ryo.watanabe@tier4.jp">Ryo Watanabe</maintainer>
   <maintainer email="tomo@axe.bz">Tomomi HORII</maintainer>
-  <license>Apache 2</license>
+  <!-- ROS2 -->
+  <maintainer email="jilada.eccleston@tier4.jp">Jilada ECCLESTON</maintainer>
+  <license>Apache License 2.0</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
-  <depend>roscpp</depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  
+  <build_depend>rclcpp</build_depend>
+  <build_depend>rclcpp_components</build_depend>
+
+  <exec_depend>rclcpp</exec_depend>
+  <exec_depend>rclcpp_components</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
 </package>