From 7430d521e080e864d61ddd046256d7a674b28f95 Mon Sep 17 00:00:00 2001
From: Dan Rose <dan@digilabs.io>
Date: Fri, 5 Apr 2019 20:07:32 -0500
Subject: [PATCH] Migrated to ROS2

Followed migration instructions in https://index.ros.org/doc/ros2/Contributing/Migration-Guide/
---
 CMakeLists.txt | 30 ++++++++++++------------------
 package.xml    |  6 +++++-
 2 files changed, 17 insertions(+), 19 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e1474ad..cb0367e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,29 +1,20 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(serial)
 
-# Find catkin
-find_package(catkin REQUIRED)
+find_package(ament_cmake REQUIRED)
 
 if(APPLE)
     find_library(IOKIT_LIBRARY IOKit)
     find_library(FOUNDATION_LIBRARY Foundation)
 endif()
 
+ament_export_include_directories(include)
+ament_export_libraries(${PROJECT_NAME})
 if(UNIX AND NOT APPLE)
     # If Linux, add rt and pthread
     set(rt_LIBRARIES rt)
     set(pthread_LIBRARIES pthread)
-    catkin_package(
-        LIBRARIES ${PROJECT_NAME}
-        INCLUDE_DIRS include
-        DEPENDS rt pthread
-    )
-else()
-    # Otherwise normal call
-    catkin_package(
-        LIBRARIES ${PROJECT_NAME}
-        INCLUDE_DIRS include
-    )
+    ament_export_dependencies(rt pthread)
 endif()
 
 ## Sources
@@ -66,15 +57,18 @@ include_directories(include)
 
 ## Install executable
 install(TARGETS ${PROJECT_NAME}
-    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
 )
 
 ## Install headers
 install(FILES include/serial/serial.h include/serial/v8stdint.h
-  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/serial)
+  DESTINATION include/serial
+)
 
 ## Tests
-if(CATKIN_ENABLE_TESTING)
+if(BUILD_TESTING)
     add_subdirectory(tests)
 endif()
+
+ament_package()
diff --git a/package.xml b/package.xml
index 27781e1..f1ac9d3 100644
--- a/package.xml
+++ b/package.xml
@@ -19,8 +19,12 @@
   <author email="wjwwood@gmail.com">William Woodall</author>
   <author email="ash.gti@gmail.com">John Harrison</author>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
 
   <test_depend>boost</test_depend>
 
+  <export>
+  <build_type>ament_cmake</build_type>
+  </export>
+
 </package>