(#22892) urdfdom: add v4.0.0

* urdfdom: add v4.0.0

* urdfdom: set CMP0077

recipes/urdfdom/all/conandata.yml

@@ -1,4 +1,11 @@
 sources:
+  "4.0.0":
+    urdfdom:
+      url: "https://github.com/ros/urdfdom/archive/refs/tags/4.0.0.tar.gz"
+      sha256: "9848d106dc88dc0b907d5667c09da3ca53241fbcf17e982d8c234fe3e0d6ddcc"
+    urdfdom_headers:
+      url: "https://github.com/ros/urdfdom_headers/archive/refs/tags/1.1.1.zip"
+      sha256: "dde77e3dd96ffa41e2ee0a20bddcd6ef05863e95ce0143ede77130d8cd46c644"
   "3.1.1":
     urdfdom:
       url: "https://github.com/ros/urdfdom/archive/refs/tags/3.1.1.tar.gz"
@@ -10,13 +17,20 @@ sources:
       url: "https://github.com/ros/urdfdom_headers/archive/1fd21b64ed78493508a174f98af982605d1e4607.zip"
       sha256: "aba42c1c83d6d1fb94e54ec84680a8b9e2417337fbaa85424da0e069d0cc89b6"
 patches:
+  "4.0.0":
+    - patch_file: "patches/4.0.0/001-optional-build-apps.patch"
+      patch_type: "conan"
+      patch_description: "Disable building of apps by default"
+    - patch_file: "patches/4.0.0/002-use-conan-dependencies.patch"
+      patch_type: "conan"
+      patch_description: "Use dependencies from Conan, use merged urdfdom_headers"
   "3.1.1":
-    - patch_file: "patches/001-optional-build-apps.patch"
+    - patch_file: "patches/3.1.1/001-optional-build-apps.patch"
       patch_type: "conan"
       patch_description: "Disable building of apps by default"
-    - patch_file: "patches/002-use-conan-dependencies.patch"
+    - patch_file: "patches/3.1.1/002-use-conan-dependencies.patch"
       patch_type: "conan"
-      patch_description: "Use dependencies (console_bridge, TinyXML, GTest) from Conan"
-    - patch_file: "patches/003-use-merged-urdfdom_headers.patch"
+      patch_description: "Use dependencies (console_bridge, TinyXML) from Conan"
+    - patch_file: "patches/3.1.1/003-use-merged-urdfdom_headers.patch"
       patch_type: "conan"
       patch_description: "Use merged urdfdom_headers instead of a separate package"

recipes/urdfdom/all/conanfile.py

@@ -4,6 +4,7 @@
 from conan.tools.build import check_min_cppstd
 from conan.tools.cmake import CMake, CMakeDeps, CMakeToolchain, cmake_layout
 from conan.tools.files import apply_conandata_patches, copy, export_conandata_patches, get, replace_in_file, rm, rmdir
+from conan.tools.scm import Version
 
 required_conan_version = ">=1.53.0"
 
@@ -45,7 +46,10 @@ def layout(self):
         cmake_layout(self, src_folder="src")
 
     def requirements(self):
-        self.requires("tinyxml/2.6.2", transitive_headers=True)
+        if Version(self.version) >= "4.0":
+            self.requires("tinyxml2/10.0.0", transitive_headers=True, transitive_libs=True)
+        else:
+            self.requires("tinyxml/2.6.2", transitive_headers=True, transitive_libs=True)
         self.requires("console_bridge/1.0.2")
 
     def validate(self):
@@ -68,6 +72,8 @@ def generate(self):
         tc.variables["BUILD_APPS"] = False
         if not self.options.shared:
             tc.preprocessor_definitions["URDFDOM_STATIC"] = "1"
+        # Need to set CMP0077 because CMake policy version is too old (3.5 as of v4.0.0)
+        tc.cache_variables["CMAKE_POLICY_DEFAULT_CMP0077"] = "NEW"
         tc.generate()
         CMakeDeps(self).generate()
 
@@ -84,11 +90,13 @@ def build(self):
         cmake.build()
 
     def package(self):
-        copy(self, "LICENSE",
-            dst=os.path.join(self.package_folder, "licenses"),
-            src=self.source_folder)
+        copy(self, "LICENSE", self.source_folder, os.path.join(self.package_folder, "licenses"))
         cmake = CMake(self)
         cmake.install()
+        # Copy urdfdom_headers
+        copy(self, "*",
+             src=os.path.join(self.source_folder, "urdf_parser", "include"),
+             dst=os.path.join(self.package_folder, "include"))
         rmdir(self, os.path.join(self.package_folder, "lib", "pkgconfig"))
         rmdir(self, os.path.join(self.package_folder, "lib", "urdfdom"))
         rmdir(self, os.path.join(self.package_folder, "CMake"))

recipes/urdfdom/all/patches/002-use-conan-dependencies.patch → recipes/urdfdom/all/patches/3.1.1/002-use-conan-dependencies.patch

@@ -46,38 +46,3 @@ diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
      target_compile_features(${add_urdfdom_library_LIBNAME} PUBLIC cxx_std_14)
    endif()
 
-diff --git a/urdf_parser/test/CMakeLists.txt b/urdf_parser/test/CMakeLists.txt
---- a/urdf_parser/test/CMakeLists.txt	(revision 1ed7ca95b917f38feb4ff7bd1aa033baf2cfce0e)
-+++ b/urdf_parser/test/CMakeLists.txt	(revision 6592c04e28cb59b8e9ac5944e3229c50d706a2ee)
-@@ -1,18 +1,8 @@
--include_directories(
--  ${CMAKE_CURRENT_SOURCE_DIR}/gtest/include
--  ${CMAKE_CURRENT_SOURCE_DIR}/gtest
--  ${CMAKE_CURRENT_SOURCE_DIR}
--)
--
--# Build gtest
--add_library(gtest STATIC gtest/src/gtest-all.cc)
--add_library(gtest_main STATIC gtest/src/gtest_main.cc)
--target_link_libraries(gtest_main gtest)
--target_compile_features(gtest PUBLIC cxx_std_11)
--
- execute_process(COMMAND cmake -E remove_directory ${CMAKE_BINARY_DIR}/test_results)
- execute_process(COMMAND cmake -E make_directory ${CMAKE_BINARY_DIR}/test_results)
-
-+find_package(GTest REQUIRED)
-+
- # unit test to fix geometry problems
- set(tests
-      urdf_double_convert.cpp
-@@ -27,8 +17,8 @@
-   add_executable(${BINARY_NAME} ${GTEST_SOURCE_file})
-
-   target_link_libraries(${BINARY_NAME}
--    gtest_main
--    gtest
-+    GTest::gtest
-+    GTest::gtest_main
-     urdfdom_model
-   )
-   if (UNIX)

recipes/urdfdom/all/patches/003-use-merged-urdfdom_headers.patch → recipes/urdfdom/all/patches/3.1.1/003-use-merged-urdfdom_headers.patch

@@ -10,12 +10,3 @@ diff --git a/CMakeLists.txt b/CMakeLists.txt
 
  # Control where libraries and executables are placed during the build
 
-diff --git a/urdf_parser/CMakeLists.txt b/urdf_parser/CMakeLists.txt
---- a/urdf_parser/CMakeLists.txt	(revision 82fb54588f3ba5091d9a73d072559ac7061eccdf)
-+++ b/urdf_parser/CMakeLists.txt	(revision 1de2b88f231fa0f7f83a028e971d4ebaed1b164c)
-@@ -135,4 +135,4 @@
-   FILE "urdfdomExport.cmake"
- )
-
--INSTALL(DIRECTORY include/urdf_parser DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
-+INSTALL(DIRECTORY include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})

recipes/urdfdom/all/patches/4.0.0/001-optional-build-apps.patch

@@ -0,0 +1,34 @@
+--- urdf_parser/CMakeLists.txt
++++ urdf_parser/CMakeLists.txt
+@@ -81,6 +81,7 @@
+
+ # --------------------------------
+
++if(BUILD_APPS)
+ add_executable(check_urdf src/check_urdf.cpp)
+ target_include_directories(check_urdf PUBLIC include)
+ target_link_libraries(check_urdf urdfdom_model urdfdom_world)
+@@ -97,6 +98,7 @@
+ add_executable(urdf_mem_test test/memtest.cpp)
+ target_include_directories(urdf_mem_test PUBLIC include)
+ target_link_libraries(urdf_mem_test urdfdom_model)
++endif()
+
+ include(CTest)
+ if(BUILD_TESTING)
+@@ -104,6 +106,7 @@
+   add_subdirectory(test)
+ endif()
+
++if(BUILD_APPS)
+ INSTALL(
+   TARGETS
+   check_urdf
+@@ -114,6 +117,7 @@
+   LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+   ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+ )
++endif()
+ INSTALL(
+   TARGETS
+   urdfdom_model

recipes/urdfdom/all/patches/4.0.0/002-use-conan-dependencies.patch

@@ -0,0 +1,14 @@
+--- CMakeLists.txt
++++ CMakeLists.txt
+@@ -45,11 +45,8 @@
+
+ list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
+
+-find_package(tinyxml2_vendor QUIET)
+ find_package(TinyXML2 REQUIRED)
+
+-find_package(urdfdom_headers 1.0 REQUIRED)
+-find_package(console_bridge_vendor QUIET) # Provides console_bridge 0.4.0 on platforms without it.
+ find_package(console_bridge REQUIRED)
+
+ # Control where libraries and executables are placed during the build

recipes/urdfdom/config.yml

@@ -1,3 +1,5 @@
 versions:
+  "4.0.0":
+    folder: all
   "3.1.1":
     folder: all