From 997a26f2be26be2127d141b0c02263962fa0a943 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 26 Jun 2018 18:18:24 +0200
Subject: [PATCH] Necessary chnages to work on ROS kinetic.

---
 CMakeLists.txt                 | 6 +++---
 cfg/LidarLiteDriver.cfg        | 4 ++--
 include/lidar_lite_driver.h    | 4 ++--
 package.xml                    | 2 ++
 src/lidar_lite_driver.cpp      | 6 +++---
 src/lidar_lite_driver_node.cpp | 7 +++----
 6 files changed, 15 insertions(+), 14 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6d5ecc1..79190a0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,7 +6,7 @@ find_package(catkin REQUIRED)
 # ******************************************************************** 
 #                 Add catkin additional components here
 # ******************************************************************** 
-find_package(catkin REQUIRED COMPONENTS iri_base_driver sensor_msgs)
+find_package(catkin REQUIRED COMPONENTS iri_base_driver roscpp sensor_msgs)
 
 ## System dependencies are found with CMake's conventions
 find_package(Boost REQUIRED COMPONENTS thread)
@@ -61,11 +61,11 @@ catkin_package(
 # ******************************************************************** 
 #            Add ROS and IRI ROS run time dependencies
 # ******************************************************************** 
- CATKIN_DEPENDS iri_base_driver sensor_msgs
+ CATKIN_DEPENDS iri_base_driver roscpp sensor_msgs
 # ******************************************************************** 
 #      Add system and labrobotica run time dependencies here
 # ******************************************************************** 
- DEPENDS lidar_lite usb_i2c_adapter
+ DEPENDS 
 )
 
 ###########
diff --git a/cfg/LidarLiteDriver.cfg b/cfg/LidarLiteDriver.cfg
index cfbf14a..5ad6986 100755
--- a/cfg/LidarLiteDriver.cfg
+++ b/cfg/LidarLiteDriver.cfg
@@ -31,9 +31,9 @@
 
 # Author: 
 
-PACKAGE='iri_lidar_lite'
+PACKAGE='iri_lidar_lite_driver'
 
-from driver_base.msg import SensorLevels
+from iri_base_driver.msg import SensorLevels
 from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
diff --git a/include/lidar_lite_driver.h b/include/lidar_lite_driver.h
index b0e17a5..64083ec 100644
--- a/include/lidar_lite_driver.h
+++ b/include/lidar_lite_driver.h
@@ -28,7 +28,7 @@
 #define _lidar_lite_driver_h_
 
 #include <iri_base_driver/iri_base_driver.h>
-#include <iri_lidar_lite/LidarLiteConfig.h>
+#include <iri_lidar_lite_driver/LidarLiteConfig.h>
 
 #include <iridrivers/lidar_lite.h>
 #include <iridrivers/lidar_lite_exceptions.h>
@@ -70,7 +70,7 @@ public:
    * Define a Config type with the LidarLiteConfig. All driver implementations
    * will then use the same variable type Config.
    */
-  typedef iri_lidar_lite::LidarLiteConfig Config;
+  typedef iri_lidar_lite_driver::LidarLiteConfig Config;
 
   /**
    * \brief config variable
diff --git a/package.xml b/package.xml
index d49a4a4..66990d9 100644
--- a/package.xml
+++ b/package.xml
@@ -42,8 +42,10 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>iri_base_driver</build_depend>
   <build_depend>sensor_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
   <run_depend>iri_base_driver</run_depend>
   <run_depend>sensor_msgs</run_depend>
+  <run_depend>roscpp</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
diff --git a/src/lidar_lite_driver.cpp b/src/lidar_lite_driver.cpp
index a137c01..16d448e 100644
--- a/src/lidar_lite_driver.cpp
+++ b/src/lidar_lite_driver.cpp
@@ -58,13 +58,13 @@ LidarLiteDriver::config_update(Config& new_cfg, uint32_t level)
   // depending on current state
   // update driver with new_cfg data
   switch (this->getState()) {
-    case LidarLiteDriver::CLOSED:
+    case iri_base_driver::CLOSED:
       break;
 
-    case LidarLiteDriver::OPENED:
+    case iri_base_driver::OPENED:
       break;
 
-    case LidarLiteDriver::RUNNING:
+    case iri_base_driver::RUNNING:
 
       this->config_mode_ = new_cfg.Config_mode;
 
diff --git a/src/lidar_lite_driver_node.cpp b/src/lidar_lite_driver_node.cpp
index 92b6a28..3ab5695 100644
--- a/src/lidar_lite_driver_node.cpp
+++ b/src/lidar_lite_driver_node.cpp
@@ -7,7 +7,7 @@ LidarLiteDriverNode::LidarLiteDriverNode(ros::NodeHandle& nh)
   // , RunThread_(true)
   // , Thread_(boost::bind(&LidarLiteDriverNode::ThreadFunc, this))
 {
-  this->loop_rate_ = 30; // [Hz]
+  this->setRate(30);
 
   // Read from launch file
   std::string serial;
@@ -67,7 +67,7 @@ void
 LidarLiteDriverNode::mainNodeThread(void)
 {
   /* code */
-  if (this->driver_.getState() == LidarLiteDriver::RUNNING) {
+  if (this->driver_.isRunning()) {
 
     // Get measurement
     this->driver_.lock();
@@ -139,6 +139,5 @@ LidarLiteDriverNode::~LidarLiteDriverNode(void)
 int
 main(int argc, char* argv[])
 {
-  return driver_base::main<LidarLiteDriverNode>(argc, argv,
-                                                "lidar_lite_driver_node");
+  return iri_base_driver::main<LidarLiteDriverNode>(argc, argv,"lidar_lite_driver_node");
 }
-- 
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