6 files changed, 90 insertions, 0 deletions

diff --git a/misc/urdfdom/Makefile b/misc/urdfdom/Makefile
new file mode 100644
index 000000000000..c5dc834f6388
--- /dev/null
+++ b/misc/urdfdom/Makefile
@@ -0,0 +1,30 @@
+# $FreeBSD$
+
+PORTNAME=	urdfdom
+DISTVERSION=	1.0.0-9
+DISTVERSIONSUFFIX=	-g1857a55
+CATEGORIES=	misc
+
+MAINTAINER=	yuri@FreeBSD.org
+COMMENT=	Unified Robot Description Format (URDF) parser
+
+LICENSE=	BSD3CLAUSE
+LICENSE_FILE=	${WRKSRC}/LICENSE
+
+BUILD_DEPENDS=	urdfdom-headers>0:misc/urdfdom-headers
+LIB_DEPENDS=	libconsole_bridge.so:misc/console-bridge \
+		libtinyxml.so:textproc/tinyxml
+RUN_DEPENDS=	urdfdom-headers>0:misc/urdfdom-headers
+
+USES=		cmake:outsource
+USE_GITHUB=	yes
+GH_ACCOUNT=	ros
+USE_LDCONFIG=	yes
+
+do-test: # some tests are known to fail: https://github.com/ros/urdfdom/issues/118
+	@cd ${BUILD_WRKSRC} && \
+		${SETENV} ${CONFIGURE_ENV} ${CMAKE_BIN} ${CMAKE_ARGS} -DBUILD_TESTING=ON ${CMAKE_SOURCE_PATH} && \
+		${SETENV} ${MAKE_ENV} ${MAKE_CMD} ${MAKE_ARGS} ${ALL_TARGET} && \
+		${SETENV} ${MAKE_ENV} ${MAKE_CMD} ${MAKE_ARGS} test
+
+.include <bsd.port.mk>
diff --git a/misc/urdfdom/distinfo b/misc/urdfdom/distinfo
new file mode 100644
index 000000000000..65d0c222574e
--- /dev/null
+++ b/misc/urdfdom/distinfo
@@ -0,0 +1,3 @@
+TIMESTAMP = 1542698311
+SHA256 (ros-urdfdom-1.0.0-9-g1857a55_GH0.tar.gz) = c273f4399fdd70800ac2ce03ffd89cd868d9d7448e8c2b0f044bba29b5a89a12
+SIZE (ros-urdfdom-1.0.0-9-g1857a55_GH0.tar.gz) = 275479
diff --git a/misc/urdfdom/files/patch-CMakeLists.txt b/misc/urdfdom/files/patch-CMakeLists.txt
new file mode 100644
index 000000000000..b5b361bef441
--- /dev/null
+++ b/misc/urdfdom/files/patch-CMakeLists.txt
@@ -0,0 +1,13 @@
+--- CMakeLists.txt.orig	2018-11-20 07:38:15 UTC
++++ CMakeLists.txt
+@@ -56,7 +56,9 @@ set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${CM
+ set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
+ set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR}")
+ 
+-enable_testing()
++if (BUILD_TESTING)
++    enable_testing()
++endif()
+ 
+ add_subdirectory(urdf_parser)
+ 
diff --git a/misc/urdfdom/files/patch-urdf__parser_CMakeLists.txt b/misc/urdfdom/files/patch-urdf__parser_CMakeLists.txt
new file mode 100644
index 000000000000..d53215f61936
--- /dev/null
+++ b/misc/urdfdom/files/patch-urdf__parser_CMakeLists.txt
@@ -0,0 +1,26 @@
+--- urdf_parser/CMakeLists.txt.orig	2018-11-14 01:51:13 UTC
++++ urdf_parser/CMakeLists.txt
+@@ -25,17 +25,19 @@ add_executable(urdf_to_graphiz src/urdf_
+ target_link_libraries(urdf_to_graphiz urdfdom_model)
+ 
+ # urdf_mem_test is a binary for testing, not a unit test
+-add_executable(urdf_mem_test test/memtest.cpp)
+-target_link_libraries(urdf_mem_test urdfdom_model)
++if (BUILD_TESTING)
++  add_executable(urdf_mem_test test/memtest.cpp)
++  target_link_libraries(urdf_mem_test urdfdom_model)
++endif()
+ 
+-include(CTest)
+ if(BUILD_TESTING)
++  include(CTest)
+   add_subdirectory(test)
+ endif()
+ 
+ INSTALL(TARGETS urdfdom_model DESTINATION ${CMAKE_INSTALL_LIBDIR})
+ INSTALL(TARGETS urdfdom_world DESTINATION ${CMAKE_INSTALL_LIBDIR})
+-INSTALL(TARGETS check_urdf urdf_to_graphiz urdf_mem_test
++INSTALL(TARGETS check_urdf urdf_to_graphiz
+   DESTINATION ${CMAKE_INSTALL_BINDIR})
+ INSTALL(TARGETS urdfdom_sensor DESTINATION ${CMAKE_INSTALL_LIBDIR})
+ INSTALL(TARGETS urdfdom_model_state DESTINATION ${CMAKE_INSTALL_LIBDIR})
diff --git a/misc/urdfdom/pkg-descr b/misc/urdfdom/pkg-descr
new file mode 100644
index 000000000000..3a46ce9b0740
--- /dev/null
+++ b/misc/urdfdom/pkg-descr
@@ -0,0 +1,4 @@
+urdf is a C++ parser for the Unified Robot Description Format (URDF), which is
+an XML format for representing a robot model.
+
+WWW: https://wiki.ros.org/urdf
diff --git a/misc/urdfdom/pkg-plist b/misc/urdfdom/pkg-plist
new file mode 100644
index 000000000000..828c0207755b
--- /dev/null
+++ b/misc/urdfdom/pkg-plist
@@ -0,0 +1,14 @@
+bin/check_urdf
+bin/urdf_to_graphiz
+include/urdf_parser/exportdecl.h
+include/urdf_parser/urdf_parser.h
+lib/liburdfdom_model.so
+lib/liburdfdom_model.so.1.0
+lib/liburdfdom_model_state.so
+lib/liburdfdom_model_state.so.1.0
+lib/liburdfdom_sensor.so
+lib/liburdfdom_sensor.so.1.0
+lib/liburdfdom_world.so
+lib/liburdfdom_world.so.1.0
+lib/urdfdom/cmake/urdfdom-config.cmake
+libdata/pkgconfig/urdfdom.pc