[sdformat5] 01/01: Import debian metadata
Jose Luis Rivero
jrivero-guest at moszumanska.debian.org
Fri Aug 18 19:00:23 UTC 2017
This is an automated email from the git hooks/post-receive script.
jrivero-guest pushed a commit to branch master
in repository sdformat5.
commit d3c3d2a85ffb5b0355be1e6340f162e5e1e0a11e
Author: Jose Luis Rivero <jrivero at osrfoundation.org>
Date: Fri Aug 18 16:21:46 2017 +0200
Import debian metadata
---
debian/changelog | 6 +
debian/compat | 1 +
debian/control | 110 +++++++++
debian/copyright | 64 +++++
debian/docs | 3 +
debian/libsdformat5-dev.install | 4 +
debian/libsdformat5.install | 1 +
debian/patches/0001-c++11-unconditional.patch | 33 +++
debian/patches/0002_use_system_gtest.patch | 28 +++
debian/patches/0003-urdfdom-replace-boost.patch | 282 +++++++++++++++++++++++
debian/patches/0004_fix_condition_in_cmake.patch | 19 ++
debian/patches/series | 4 +
debian/rules | 28 +++
debian/sdformat-doc.doc-base | 9 +
debian/sdformat-doc.docs | 1 +
debian/sdformat-doc.links | 1 +
debian/sdformat-sdf.install | 2 +
debian/source/format | 1 +
debian/source/lintian-overrides | 3 +
debian/tests/build | 27 +++
debian/tests/control | 2 +
debian/watch | 3 +
22 files changed, 632 insertions(+)
diff --git a/debian/changelog b/debian/changelog
new file mode 100644
index 0000000..e1b6b08
--- /dev/null
+++ b/debian/changelog
@@ -0,0 +1,6 @@
+sdformat5 (5.2.0-1) xenial; urgency=medium
+
+ * Imported Upstream version 5.2.0
+ ITP bug (Closes: #867969)
+
+ -- Jose Luis Rivero <jrivero at osrfoundation.org> Fri, 18 Aug 2017 16:13:23 +0200
diff --git a/debian/compat b/debian/compat
new file mode 100644
index 0000000..ec63514
--- /dev/null
+++ b/debian/compat
@@ -0,0 +1 @@
+9
diff --git a/debian/control b/debian/control
new file mode 100644
index 0000000..7de7d23
--- /dev/null
+++ b/debian/control
@@ -0,0 +1,110 @@
+Source: sdformat
+Maintainer: Debian Science Maintainers <debian-science-maintainers at lists.alioth.debian.org>
+Uploaders: Jose Luis Rivero <jrivero at osrfoundation.org>
+Section: science
+Testsuite: autopkgtest
+Priority: optional
+Build-Depends: cmake,
+ debhelper (>= 9),
+ python,
+ libboost-system-dev,
+ libboost-filesystem-dev,
+ libboost-program-options-dev,
+ libboost-regex-dev,
+ libboost-iostreams-dev,
+ libtinyxml-dev,
+ liburdfdom-dev,
+ doxygen,
+ texlive-base,
+ texlive-fonts-recommended,
+ texlive-latex-extra,
+ texlive-latex-recommended,
+ ruby | ruby-interpreter,
+ libignition-math3-dev
+ libgtest-dev
+Standards-Version: 3.9.8
+Vcs-Browser: https://anonscm.debian.org/cgit/debian-science/packages/sdformat.git
+Vcs-Git: https://anonscm.debian.org/git/debian-science/packages/sdformat.git
+Homepage: http://sdformat.org
+
+Package: libsdformat5
+Architecture: any
+Multi-Arch: same
+Section: libs
+Depends: sdformat-sdf (>= ${source:Version}),
+ ${shlibs:Depends},
+ ${misc:Depends}
+Pre-Depends: ${misc:Pre-Depends}
+Description: Simulation Description Format (SDF) parser - Shared library
+ SDF is an XML file format that describes environments, objects, and robots
+ in a manner suitable for robotic applications. SDF is capable of representing
+ and describing different physic engines, lighting properties, terrain, static
+ or dynamic objects, and articulated robots with various sensors, and acutators.
+ The format of SDF is also described by XML, which facilitates updates and
+ allows conversion from previous versions. A parser is also contained within
+ this package that reads SDF files and returns a C++ interface.
+ .
+ This package gathers the shared library
+
+Package: libsdformat5-dev
+Architecture: any
+Multi-Arch: same
+Section: libdevel
+Depends: libboost-system-dev,
+ libboost-filesystem-dev,
+ libboost-program-options-dev,
+ libboost-regex-dev,
+ libtinyxml-dev,
+ liburdfdom-dev,
+ libignition-math3-dev,
+ libsdformat5 (= ${binary:Version}),
+ ${misc:Depends}
+Breaks: libsdformat3-dev
+Provides: libsdformat-dev
+Replaces: libsdformat3-dev
+Description: Simulation Description Format (SDF) parser - Development files
+ SDF is an XML file format that describes environments, objects, and robots
+ in a manner suitable for robotic applications. SDF is capable of representing
+ and describing different physic engines, lighting properties, terrain, static
+ or dynamic objects, and articulated robots with various sensors, and acutators.
+ The format of SDF is also described by XML, which facilitates updates and
+ allows conversion from previous versions. A parser is also contained within
+ this package that reads SDF files and returns a C++ interface.
+ .
+ This package contains development files (headers, shared library
+ symbolic link and cmake file).
+
+Package: sdformat-sdf
+Architecture: all
+Multi-Arch: foreign
+Section: libdevel
+Depends: ${misc:Depends}
+Conflicts: libsdformat1
+Description: Simulation Description Format (SDF) parser - SDF files
+ SDF is an XML file format that describes environments, objects, and robots
+ in a manner suitable for robotic applications. SDF is capable of representing
+ and describing different physic engines, lighting properties, terrain, static
+ or dynamic objects, and articulated robots with various sensors, and acutators.
+ The format of SDF is also described by XML, which facilitates updates and
+ allows conversion from previous versions. A parser is also contained within
+ this package that reads SDF files and returns a C++ interface.
+ .
+ This package contains SDF (Simulation Description Format) XML files needed by
+ the libsdformat.
+
+Package: sdformat-doc
+Architecture: all
+Multi-Arch: foreign
+Section: doc
+Depends: ${misc:Depends},
+ libjs-jquery
+Description: Simulation Description Format (SDF) parser - Documentation
+ SDF is an XML file format that describes environments, objects, and robots
+ in a manner suitable for robotic applications. SDF is capable of representing
+ and describing different physic engines, lighting properties, terrain, static
+ or dynamic objects, and articulated robots with various sensors, and acutators.
+ The format of SDF is also described by XML, which facilitates updates and
+ allows conversion from previous versions. A parser is also contained within
+ this package that reads SDF files and returns a C++ interface.
+ .
+ This package contains the program documentation
diff --git a/debian/copyright b/debian/copyright
new file mode 100644
index 0000000..bdf69ad
--- /dev/null
+++ b/debian/copyright
@@ -0,0 +1,64 @@
+Format: http://www.debian.org/doc/packaging-manuals/copyright-format/1.0/
+Upstream-Name: sdformat
+Upstream-Contact: gazebo at osrfoundation.org
+Source: http://sdformat.org/
+
+Files: *
+Copyright: 2011 Nate Koenig
+ 2012 Open Source Robotics Foundation
+ 2013 Open Source Robotics Foundation
+License: Apache
+ See '/usr/share/common-licenses/Apache-2.0'.
+
+Files: test/gtest/*
+Copyright: 2003, Google Inc.
+ 2005, Google Inc.
+ 2006, Google Inc.
+ 2007, Google Inc.
+ 2008, Google Inc.
+ 2009, Google Inc.
+License: BSD-3-clause
+
+Files: tools/check_test_ran.py
+ src/urdf/*
+Copyright: 2008, Willow Garage, Inc.
+License: BSD-3-clause
+
+License: BSD-3-clause
+ Software License Agreement (BSD License)
+ .
+ Copyright (c) 2008, Willow Garage, Inc.
+ All rights reserved.
+ .
+ Redistribution and use in source and binary forms, with or without
+ modification, are permitted provided that the following conditions
+ are met:
+ .
+ * Redistributions of source code must retain the above copyright
+ notice, this list of conditions and the following disclaimer.
+ * Redistributions in binary form must reproduce the above
+ copyright notice, this list of conditions and the following
+ disclaimer in the documentation and/or other materials provided
+ with the distribution.
+ * Neither the name of the Willow Garage nor the names of its
+ contributors may be used to endorse or promote products derived
+ from this software without specific prior written permission.
+ .
+ THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ POSSIBILITY OF SUCH DAMAGE.
+
+Files: doc/search.js
+Copyright: 2009, Dimitri van Heesch.
+ 2003-2008, Greg Valure.
+License: GPL
+ See '/usr/share/common-licenses/GPL'.
diff --git a/debian/docs b/debian/docs
new file mode 100644
index 0000000..6f83607
--- /dev/null
+++ b/debian/docs
@@ -0,0 +1,3 @@
+AUTHORS
+NEWS
+README
diff --git a/debian/libsdformat5-dev.install b/debian/libsdformat5-dev.install
new file mode 100644
index 0000000..38fffb0
--- /dev/null
+++ b/debian/libsdformat5-dev.install
@@ -0,0 +1,4 @@
+usr/include/*
+usr/lib/*/*.so
+usr/lib/*/pkgconfig/*.pc
+usr/lib/*/cmake/sdformat/*
diff --git a/debian/libsdformat5.install b/debian/libsdformat5.install
new file mode 100644
index 0000000..3de3b10
--- /dev/null
+++ b/debian/libsdformat5.install
@@ -0,0 +1 @@
+usr/lib/*/*.so.*
diff --git a/debian/patches/0001-c++11-unconditional.patch b/debian/patches/0001-c++11-unconditional.patch
new file mode 100644
index 0000000..44c10d6
--- /dev/null
+++ b/debian/patches/0001-c++11-unconditional.patch
@@ -0,0 +1,33 @@
+Description: Declare c++11 flag unconditional
+Author: Jose Luis Rivero <jrivero at osrfoundation.org>
+Forwarded: No
+
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+index c2cbef3..2024501 100644
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -173,7 +173,7 @@ else()
+ list(APPEND WARN_LEVEL -Wunused-variable -Wvolatile-register-var)
+
+ # Unable to be filtered flags (failing due to limitations in filter_valid_compiler_warnings)
+- set(UNFILTERED_FLAGS "-Wc++11-compat")
++ set(UNFILTERED_FLAGS "-Wc++11-compat -std=c++11")
+ endif()
+
+ filter_valid_compiler_warnings(${WARN_LEVEL} -Wextra -Wno-long-long
+diff --git a/cmake/DefaultCFlags.cmake b/cmake/DefaultCFlags.cmake
+index 0903872..aaaaf5b 100644
+--- a/cmake/DefaultCFlags.cmake
++++ b/cmake/DefaultCFlags.cmake
+@@ -36,11 +36,6 @@ set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
+ set (CMAKE_SHARED_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
+ set (CMAKE_MODULE_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
+
+-# Visual Studio enables c++11 support by default
+-if (NOT MSVC)
+- set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}} -std=c++11")
+-endif()
+-
+ if (UNIX)
+ set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
+ set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_LINK_FLAGS_${CMAKE_BUILD_TYPE_UPPERCASE}}")
diff --git a/debian/patches/0002_use_system_gtest.patch b/debian/patches/0002_use_system_gtest.patch
new file mode 100644
index 0000000..cc153dc
--- /dev/null
+++ b/debian/patches/0002_use_system_gtest.patch
@@ -0,0 +1,28 @@
+Description: Use system packaged gtest
+Author: Jose Luis Rivero <jrivero at osrfoundation.org>
+Last-Update: 2015-07-15
+
+diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
+index 520fcce..acbf20a 100644
+--- a/test/CMakeLists.txt
++++ b/test/CMakeLists.txt
+@@ -1,6 +1,6 @@
+ include_directories (
+- ${PROJECT_SOURCE_DIR}/include
+- ${PROJECT_BINARY_DIR}/include
++ /usr/include
++ /usr/src/gtest
+ ${Boost_INCLUDE_DIRS}
+ ${PROJECT_SOURCE_DIR}/test/gtest/include
+ ${PROJECT_SOURCE_DIR}/test/gtest
+@@ -24,8 +24,8 @@ endif()
+ configure_file (test_config.h.in ${PROJECT_BINARY_DIR}/test_config.h)
+
+ # Build gtest
+-add_library(gtest STATIC gtest/src/gtest-all.cc)
+-add_library(gtest_main STATIC gtest/src/gtest_main.cc)
++add_library(gtest STATIC /usr/src/gtest/src/gtest-all.cc)
++add_library(gtest_main STATIC /usr/src/gtest/src/gtest_main.cc)
+ target_link_libraries(gtest_main gtest)
+ set(GTEST_LIBRARY "${PROJECT_BINARY_DIR}/test/libgtest.a")
+ set(GTEST_MAIN_LIBRARY "${PROJECT_BINARY_DIR}/test/libgtest_main.a")
diff --git a/debian/patches/0003-urdfdom-replace-boost.patch b/debian/patches/0003-urdfdom-replace-boost.patch
new file mode 100644
index 0000000..7a333fd
--- /dev/null
+++ b/debian/patches/0003-urdfdom-replace-boost.patch
@@ -0,0 +1,282 @@
+Description: use std pointers instead of boost
+Author: Jose Luis Rivero <jrivero at osrfoundation.org>
+Forwarded: No
+
+diff --git a/src/parser_urdf.cc b/src/parser_urdf.cc
+index fe9bb9b..6ff603f 100644
+--- a/src/parser_urdf.cc
++++ b/src/parser_urdf.cc
+@@ -21,6 +21,7 @@
+ #include <string>
+ #include <set>
+ #include <ignition/math.hh>
++#include <boost/algorithm/string.hpp>
+
+ #include "urdf_model/model.h"
+ #include "urdf_model/link.h"
+@@ -32,10 +33,10 @@
+
+ using namespace sdf;
+
+-typedef boost::shared_ptr<urdf::Collision> UrdfCollisionPtr;
+-typedef boost::shared_ptr<urdf::Visual> UrdfVisualPtr;
+-typedef boost::shared_ptr<urdf::Link> UrdfLinkPtr;
+-typedef boost::shared_ptr<const urdf::Link> ConstUrdfLinkPtr;
++typedef std::shared_ptr<urdf::Collision> UrdfCollisionPtr;
++typedef std::shared_ptr<urdf::Visual> UrdfVisualPtr;
++typedef std::shared_ptr<urdf::Link> UrdfLinkPtr;
++typedef std::shared_ptr<const urdf::Link> ConstUrdfLinkPtr;
+ typedef std::shared_ptr<TiXmlElement> TiXmlElementPtr;
+ typedef std::shared_ptr<SDFExtension> SDFExtensionPtr;
+ typedef std::map<std::string, std::vector<SDFExtensionPtr> >
+@@ -78,7 +79,7 @@ void InsertSDFExtensionJoint(TiXmlElement *_elem,
+ /// reduced fixed joints: check if a fixed joint should be lumped
+ /// checking both the joint type and if disabledFixedJointLumping
+ /// option is set
+-bool FixedJointShouldBeReduced(boost::shared_ptr<urdf::Joint> _jnt);
++bool FixedJointShouldBeReduced(std::shared_ptr<urdf::Joint> _jnt);
+
+ /// reduced fixed joints: apply transform reduction for ray sensors
+ /// in extensions when doing fixed joint reduction
+@@ -217,9 +218,9 @@ std::string Values2str(unsigned int _count, const double *_values);
+
+
+ void CreateGeometry(TiXmlElement* _elem,
+- boost::shared_ptr<urdf::Geometry> _geometry);
++ std::shared_ptr<urdf::Geometry> _geometry);
+
+-std::string GetGeometryBoundingBox(boost::shared_ptr<urdf::Geometry> _geometry,
++std::string GetGeometryBoundingBox(std::shared_ptr<urdf::Geometry> _geometry,
+ double *_sizeVals);
+
+ ignition::math::Pose3d inverseTransformToParentFrame(
+@@ -326,10 +327,10 @@ std::string Vector32Str(const urdf::Vector3 _vector)
+ // In urdfdom_headers 0.2.x, there are group names for
+ // visuals and collisions in Link class:
+ // std::map<std::string,
+-// boost::shared_ptr<std::vector<boost::shared_ptr<Visual> > >
++// std::shared_ptr<std::vector<std::shared_ptr<Visual> > >
+ // > visual_groups;
+ // std::map<std::string,
+-// boost::shared_ptr<std::vector<boost::shared_ptr<Collision> > >
++// std::shared_ptr<std::vector<std::shared_ptr<Collision> > >
+ // > collision_groups;
+ // and we have Visual::group_name and
+ // Collision::group_name
+@@ -345,7 +346,7 @@ void ReduceCollisionToParent(UrdfLinkPtr _parentLink,
+ UrdfCollisionPtr _collision)
+ {
+ #ifndef URDF_GE_0P3
+- boost::shared_ptr<std::vector<UrdfCollisionPtr> > cols;
++ std::shared_ptr<std::vector<UrdfCollisionPtr> > cols;
+ cols = _parentLink->getCollisions(_name);
+
+ if (!cols)
+@@ -404,10 +405,10 @@ void ReduceCollisionToParent(UrdfLinkPtr _parentLink,
+ // In urdfdom_headers 0.2.x, there are group names for
+ // visuals and collisions in Link class:
+ // std::map<std::string,
+-// boost::shared_ptr<std::vector<boost::shared_ptr<Visual> > >
++// std::shared_ptr<std::vector<std::shared_ptr<Visual> > >
+ // > visual_groups;
+ // std::map<std::string,
+-// boost::shared_ptr<std::vector<boost::shared_ptr<Collision> > >
++// std::shared_ptr<std::vector<std::shared_ptr<Collision> > >
+ // > collision_groups;
+ // and we have Visual::group_name and
+ // Collision::group_name
+@@ -423,7 +424,7 @@ void ReduceVisualToParent(UrdfLinkPtr _parentLink,
+ UrdfVisualPtr _visual)
+ {
+ #ifndef URDF_GE_0P3
+- boost::shared_ptr<std::vector<UrdfVisualPtr> > viss;
++ std::shared_ptr<std::vector<UrdfVisualPtr> > viss;
+ viss = _parentLink->getVisuals(_name);
+
+ if (!viss)
+@@ -946,7 +947,7 @@ void ReduceVisualsToParent(UrdfLinkPtr _link)
+ // (original parent link name before lumping/reducing).
+ #ifndef URDF_GE_0P3
+ for (std::map<std::string,
+- boost::shared_ptr<std::vector<UrdfVisualPtr> > >::iterator
++ std::shared_ptr<std::vector<UrdfVisualPtr> > >::iterator
+ visualsIt = _link->visual_groups.begin();
+ visualsIt != _link->visual_groups.end(); ++visualsIt)
+ {
+@@ -1053,7 +1054,7 @@ void ReduceCollisionsToParent(UrdfLinkPtr _link)
+ // (original parent link name before lumping/reducing).
+ #ifndef URDF_GE_0P3
+ for (std::map<std::string,
+- boost::shared_ptr<std::vector<UrdfCollisionPtr> > >::iterator
++ std::shared_ptr<std::vector<UrdfCollisionPtr> > >::iterator
+ collisionsIt = _link->collision_groups.begin();
+ collisionsIt != _link->collision_groups.end(); ++collisionsIt)
+ {
+@@ -1156,7 +1157,7 @@ void ReduceJointsToParent(UrdfLinkPtr _link)
+ // a parent link up stream that does not have a fixed parentJoint
+ for (unsigned int i = 0 ; i < _link->child_links.size() ; ++i)
+ {
+- boost::shared_ptr<urdf::Joint> parentJoint =
++ std::shared_ptr<urdf::Joint> parentJoint =
+ _link->child_links[i]->parent_joint;
+ if (!FixedJointShouldBeReduced(parentJoint))
+ {
+@@ -2335,7 +2336,7 @@ void InsertSDFExtensionRobot(TiXmlElement *_elem)
+
+ ////////////////////////////////////////////////////////////////////////////////
+ void CreateGeometry(TiXmlElement* _elem,
+- boost::shared_ptr<urdf::Geometry> _geom)
++ std::shared_ptr<urdf::Geometry> _geom)
+ {
+ TiXmlElement *sdfGeometry = new TiXmlElement("geometry");
+
+@@ -2347,8 +2348,8 @@ void CreateGeometry(TiXmlElement* _elem,
+ case urdf::Geometry::BOX:
+ type = "box";
+ {
+- boost::shared_ptr<const urdf::Box> box;
+- box = boost::dynamic_pointer_cast< const urdf::Box >(_geom);
++ std::shared_ptr<const urdf::Box> box;
++ box = std::dynamic_pointer_cast< const urdf::Box >(_geom);
+ int sizeCount = 3;
+ double sizeVals[3];
+ sizeVals[0] = box->dim.x;
+@@ -2362,8 +2363,8 @@ void CreateGeometry(TiXmlElement* _elem,
+ case urdf::Geometry::CYLINDER:
+ type = "cylinder";
+ {
+- boost::shared_ptr<const urdf::Cylinder> cylinder;
+- cylinder = boost::dynamic_pointer_cast<const urdf::Cylinder >(_geom);
++ std::shared_ptr<const urdf::Cylinder> cylinder;
++ cylinder = std::dynamic_pointer_cast<const urdf::Cylinder >(_geom);
+ geometryType = new TiXmlElement(type);
+ AddKeyValue(geometryType, "length",
+ Values2str(1, &cylinder->length));
+@@ -2374,8 +2375,8 @@ void CreateGeometry(TiXmlElement* _elem,
+ case urdf::Geometry::SPHERE:
+ type = "sphere";
+ {
+- boost::shared_ptr<const urdf::Sphere> sphere;
+- sphere = boost::dynamic_pointer_cast<const urdf::Sphere >(_geom);
++ std::shared_ptr<const urdf::Sphere> sphere;
++ sphere = std::dynamic_pointer_cast<const urdf::Sphere >(_geom);
+ geometryType = new TiXmlElement(type);
+ AddKeyValue(geometryType, "radius",
+ Values2str(1, &sphere->radius));
+@@ -2384,8 +2385,8 @@ void CreateGeometry(TiXmlElement* _elem,
+ case urdf::Geometry::MESH:
+ type = "mesh";
+ {
+- boost::shared_ptr<const urdf::Mesh> mesh;
+- mesh = boost::dynamic_pointer_cast<const urdf::Mesh >(_geom);
++ std::shared_ptr<const urdf::Mesh> mesh;
++ mesh = std::dynamic_pointer_cast<const urdf::Mesh >(_geom);
+ geometryType = new TiXmlElement(type);
+ AddKeyValue(geometryType, "scale", Vector32Str(mesh->scale));
+ // do something more to meshes
+@@ -2447,7 +2448,7 @@ void CreateGeometry(TiXmlElement* _elem,
+
+ ////////////////////////////////////////////////////////////////////////////////
+ std::string GetGeometryBoundingBox(
+- boost::shared_ptr<urdf::Geometry> _geom, double *_sizeVals)
++ std::shared_ptr<urdf::Geometry> _geom, double *_sizeVals)
+ {
+ std::string type;
+
+@@ -2456,8 +2457,8 @@ std::string GetGeometryBoundingBox(
+ case urdf::Geometry::BOX:
+ type = "box";
+ {
+- boost::shared_ptr<const urdf::Box> box;
+- box = boost::dynamic_pointer_cast<const urdf::Box >(_geom);
++ std::shared_ptr<const urdf::Box> box;
++ box = std::dynamic_pointer_cast<const urdf::Box >(_geom);
+ _sizeVals[0] = box->dim.x;
+ _sizeVals[1] = box->dim.y;
+ _sizeVals[2] = box->dim.z;
+@@ -2466,8 +2467,8 @@ std::string GetGeometryBoundingBox(
+ case urdf::Geometry::CYLINDER:
+ type = "cylinder";
+ {
+- boost::shared_ptr<const urdf::Cylinder> cylinder;
+- cylinder = boost::dynamic_pointer_cast<const urdf::Cylinder >(_geom);
++ std::shared_ptr<const urdf::Cylinder> cylinder;
++ cylinder = std::dynamic_pointer_cast<const urdf::Cylinder >(_geom);
+ _sizeVals[0] = cylinder->radius * 2;
+ _sizeVals[1] = cylinder->radius * 2;
+ _sizeVals[2] = cylinder->length;
+@@ -2476,16 +2477,16 @@ std::string GetGeometryBoundingBox(
+ case urdf::Geometry::SPHERE:
+ type = "sphere";
+ {
+- boost::shared_ptr<const urdf::Sphere> sphere;
+- sphere = boost::dynamic_pointer_cast<const urdf::Sphere >(_geom);
++ std::shared_ptr<const urdf::Sphere> sphere;
++ sphere = std::dynamic_pointer_cast<const urdf::Sphere >(_geom);
+ _sizeVals[0] = _sizeVals[1] = _sizeVals[2] = sphere->radius * 2;
+ }
+ break;
+ case urdf::Geometry::MESH:
+ type = "trimesh";
+ {
+- boost::shared_ptr<const urdf::Mesh> mesh;
+- mesh = boost::dynamic_pointer_cast<const urdf::Mesh >(_geom);
++ std::shared_ptr<const urdf::Mesh> mesh;
++ mesh = std::dynamic_pointer_cast<const urdf::Mesh >(_geom);
+ _sizeVals[0] = mesh->scale.x;
+ _sizeVals[1] = mesh->scale.y;
+ _sizeVals[2] = mesh->scale.z;
+@@ -2509,7 +2510,7 @@ void PrintCollisionGroups(UrdfLinkPtr _link)
+ << static_cast<int>(_link->collision_groups.size())
+ << "] collisions.\n";
+ for (std::map<std::string,
+- boost::shared_ptr<std::vector<UrdfCollisionPtr > > >::iterator
++ std::shared_ptr<std::vector<UrdfCollisionPtr > > >::iterator
+ colsIt = _link->collision_groups.begin();
+ colsIt != _link->collision_groups.end(); ++colsIt)
+ {
+@@ -2902,7 +2903,7 @@ void CreateCollisions(TiXmlElement* _elem,
+ // lumped meshes (fixed joint reduction)
+ #ifndef URDF_GE_0P3
+ for (std::map<std::string,
+- boost::shared_ptr<std::vector<UrdfCollisionPtr> > >::const_iterator
++ std::shared_ptr<std::vector<UrdfCollisionPtr> > >::const_iterator
+ collisionsIt = _link->collision_groups.begin();
+ collisionsIt != _link->collision_groups.end(); ++collisionsIt)
+ {
+@@ -3024,7 +3025,7 @@ void CreateVisuals(TiXmlElement* _elem,
+ // lumped meshes (fixed joint reduction)
+ #ifndef URDF_GE_0P3
+ for (std::map<std::string,
+- boost::shared_ptr<std::vector<UrdfVisualPtr> > >::const_iterator
++ std::shared_ptr<std::vector<UrdfVisualPtr> > >::const_iterator
+ visualsIt = _link->visual_groups.begin();
+ visualsIt != _link->visual_groups.end(); ++visualsIt)
+ {
+@@ -3397,7 +3398,7 @@ TiXmlDocument URDF2SDF::InitModelString(const std::string &_urdfStr,
+ g_enforceLimits = _enforceLimits;
+
+ // Create a RobotModel from string
+- boost::shared_ptr<urdf::ModelInterface> robotModel =
++ std::shared_ptr<urdf::ModelInterface> robotModel =
+ urdf::parseURDF(_urdfStr.c_str());
+
+ // an xml object to hold the xml result
+@@ -3439,7 +3440,7 @@ TiXmlDocument URDF2SDF::InitModelString(const std::string &_urdfStr,
+ // fixed joint lumping only for selected joints
+ if (g_reduceFixedJoints)
+ ReduceFixedJoints(robot,
+- (boost::const_pointer_cast< urdf::Link >(rootLink)));
++ (std::const_pointer_cast< urdf::Link >(rootLink)));
+
+ if (rootLink->name == "world")
+ {
+@@ -3500,7 +3501,7 @@ TiXmlDocument URDF2SDF::InitModelFile(const std::string &_filename)
+ }
+
+ ////////////////////////////////////////////////////////////////////////////////
+-bool FixedJointShouldBeReduced(boost::shared_ptr<urdf::Joint> _jnt)
++bool FixedJointShouldBeReduced(std::shared_ptr<urdf::Joint> _jnt)
+ {
+ // A joint should be lumped only if its type is fixed and
+ // the disabledFixedJointLumping joint option is not set
diff --git a/debian/patches/0004_fix_condition_in_cmake.patch b/debian/patches/0004_fix_condition_in_cmake.patch
new file mode 100644
index 0000000..44df3ce
--- /dev/null
+++ b/debian/patches/0004_fix_condition_in_cmake.patch
@@ -0,0 +1,19 @@
+Description: Fix wrong usage of else-keyword in cmake
+Author: Anton Gladky <gladk at debian.org>
+Bug-Debian: https://bugs.debian.org/870237
+Last-Update: 2017-08-15
+
+--- sdformat-4.2.0.orig/CMakeLists.txt
++++ sdformat-4.2.0/CMakeLists.txt
+@@ -186,9 +186,9 @@ set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS}
+ # OS Specific initialization
+ if (UNIX)
+ sdf_setup_unix()
+-else (WIN32)
++elseif (WIN32)
+ sdf_setup_windows()
+-else (APPLE)
++elseif (APPLE)
+ sdf_setup_apple()
+ endif()
+
diff --git a/debian/patches/series b/debian/patches/series
new file mode 100644
index 0000000..18d76f1
--- /dev/null
+++ b/debian/patches/series
@@ -0,0 +1,4 @@
+0001-c++11-unconditional.patch
+0002_use_system_gtest.patch
+0003-urdfdom-replace-boost.patch
+0004_fix_condition_in_cmake.patch
diff --git a/debian/rules b/debian/rules
new file mode 100755
index 0000000..97e38a7
--- /dev/null
+++ b/debian/rules
@@ -0,0 +1,28 @@
+#!/usr/bin/make -f
+# -*- makefile -*-
+
+export DEB_BUILD_MAINT_OPTIONS = hardening=+bindnow
+
+.PHONY: override_dh_auto_configure \
+ override_dh_auto_build-indep \
+ override_dh_auto_test-indep \
+ override_dh_auto_test \
+ override_dh_strip
+
+override_dh_auto_configure:
+ dh_auto_configure -- \
+ -DUSE_EXTERNAL_URDF:BOOL=True \
+ -DUSE_UPSTREAM_CFLAGS:BOOL=False \
+ -DCMAKE_BUILD_TYPE:STRING=RelWithDebInfo
+
+override_dh_auto_build-indep:
+ dh_auto_build -- doc # Generate documentation.
+
+override_dh_auto_test-arch:
+ HOME=$(CURDIR) LC_ALL=POSIX dh_auto_test
+
+# No test can be done without the binaries
+override_dh_auto_test-indep:
+
+%:
+ dh $@ --parallel
diff --git a/debian/sdformat-doc.doc-base b/debian/sdformat-doc.doc-base
new file mode 100644
index 0000000..56fccdd
--- /dev/null
+++ b/debian/sdformat-doc.doc-base
@@ -0,0 +1,9 @@
+Document: sdformat
+Title: SDFormat C++ API reference
+Author: OSRF Team
+Abstract: Describe the SDFormatd C++ API.
+Section: Programming/C++
+
+Format: HTML
+Index: /usr/share/doc/sdformat-doc/html/index.html
+Files: /usr/share/doc/sdformat-doc/html/*
diff --git a/debian/sdformat-doc.docs b/debian/sdformat-doc.docs
new file mode 100644
index 0000000..ea8b462
--- /dev/null
+++ b/debian/sdformat-doc.docs
@@ -0,0 +1 @@
+*/doxygen/html/
diff --git a/debian/sdformat-doc.links b/debian/sdformat-doc.links
new file mode 100644
index 0000000..6083df7
--- /dev/null
+++ b/debian/sdformat-doc.links
@@ -0,0 +1 @@
+usr/share/javascript/jquery/jquery.js usr/share/doc/sdformat-doc/html/jquery.js
diff --git a/debian/sdformat-sdf.install b/debian/sdformat-sdf.install
new file mode 100644
index 0000000..c2cb50a
--- /dev/null
+++ b/debian/sdformat-sdf.install
@@ -0,0 +1,2 @@
+usr/share/sdformat/*/*.sdf
+usr/share/sdformat/*/*.convert
diff --git a/debian/source/format b/debian/source/format
new file mode 100644
index 0000000..163aaf8
--- /dev/null
+++ b/debian/source/format
@@ -0,0 +1 @@
+3.0 (quilt)
diff --git a/debian/source/lintian-overrides b/debian/source/lintian-overrides
new file mode 100644
index 0000000..fda6576
--- /dev/null
+++ b/debian/source/lintian-overrides
@@ -0,0 +1,3 @@
+# The file is really in the code just with the same
+# path. Lintian bug?
+source-is-missing doc/search.js
diff --git a/debian/tests/build b/debian/tests/build
new file mode 100755
index 0000000..0abc226
--- /dev/null
+++ b/debian/tests/build
@@ -0,0 +1,27 @@
+#!/bin/sh
+# autopkgtest check: Build and run a program against glib, to verify that the
+# headers and pkg-config file are installed correctly
+# (C) 2012 Jose Luis Rivero
+# Author: Jose Luis Rivero <jrivero at osrfoundation.org>
+
+set -e
+
+WORKDIR=$(mktemp -d)
+trap "rm -rf $WORKDIR" 0 INT QUIT ABRT PIPE TERM
+cd $WORKDIR
+cat <<EOF > sdformattest.c
+#include <sdf/sdf.hh>
+
+int main()
+{
+ sdf::SDFPtr p(new sdf::SDF());
+ sdf::init(p);
+ return 0;
+}
+EOF
+
+g++ -o sdformattest sdformattest.c `pkg-config --cflags --libs sdformat`
+echo "build: OK"
+[ -x sdformattest ]
+./sdformattest
+echo "run: OK"
diff --git a/debian/tests/control b/debian/tests/control
new file mode 100644
index 0000000..3a872e8
--- /dev/null
+++ b/debian/tests/control
@@ -0,0 +1,2 @@
+Tests: build
+Depends: @, pkg-config, build-essential
diff --git a/debian/watch b/debian/watch
new file mode 100644
index 0000000..f2e894d
--- /dev/null
+++ b/debian/watch
@@ -0,0 +1,3 @@
+version=3
+opts=uversionmangle=s/(\d)[_\.\-\+]?((RC|rc|pre|dev|beta|alpha|b|a)\d*)$/$1~$2/,dversionmangle=s/\+(debian|dfsg|ds|deb)\d*$// \
+http://gazebosim.org/distributions/sdformat/releases/ .*sdformat5-(\d\.\d\.\d)\.(?:zip|tgz|tbz|txz|(?:tar\.(?:gz|bz2|xz)))
--
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