Update upstream dependencies

.github/workflows/ci.yaml

@@ -33,8 +33,6 @@ jobs:
       CACHE_PREFIX: ${{ matrix.distro }}
       ROS_DISTRO: ${{ matrix.distro }}
       UPSTREAM_WORKSPACE: rosinstall
-      ROSDEP_SKIP_KEYS: tinyxml_vendor console_bridge_vendor  # *_vendor packages are ROS2 specific
-      CATKIN_LINT_ARGS: --config src/tactile_toolbox/.catkin_lint
 
     name: "${{ matrix.distro }}${{ matrix.env.CLANG_TIDY && (github.event_name != 'workflow_dispatch' && ' • clang-tidy (delta)' || ' • clang-tidy (all)') || '' }}"
     runs-on: ubuntu-latest

.pre-commit-config.yaml

@@ -49,7 +49,7 @@ repos:
         name: catkin_lint
         description: Check package.xml and cmake files
         entry: catkin_lint
-        args: [ "--config", ".catkin_lint", "." ]
+        args: [ "." ]
         language: system
         always_run: true
         pass_filenames: false

README.md

@@ -8,7 +8,7 @@ This software package adds tactile messages, a tactile sensor description to URD
   * `tactile_bias`: Re-publish [TactileState msgs](tactile_msgs/msg/TactileState.msg) allowing to reset tactile bias on demand (tare)
 * [tactile_calibration](tactile_calibration)
   * `tactile_state_calibrator`: maps raw tactile values to calibrated ones
-* [urdf_tactile](urdf_tactile/README.md): extension to URDF to describe tactile sensors, requires modified [`urdf`](https://github.com/ubi-agni/urdf) and [`urdfdom`](https://github.com/ubi-agni/urdfdom) packages.
+* [urdf_tactile](urdf_tactile/README.md): URDF parser to read tactile `<sensor>` tags
 * [tactile_merger](tactile_merger): Map [`tactile_msgs/TactileState`](tactile_msgs/msg/TactileState.msg) onto [`tactile_msgs/TactileContacts`](tactile_msgs/msg/TactileContacts.msg), i.e. contact position, force, and normal, merging contact data of all taxels per link into a single wrench vector
 * [tactile_pcl](tactile_pcl): Compute and publish Tactile Point Cloud data from [`tactile_msgs/TactileContacts`](tactile_msgs/msg/TactileState.msg).
 * [rviz_tactile_plugins](rviz_tactile_plugins): rviz visualization tools for [raw tactile data](tactile_msgs/msg/TactileState.msg) and [contact information](tactile_msgs/msg/TactileContacts.msg).

rosinstall

@@ -1,5 +1 @@
-# As tactile-toolbox relies on new, not yet released urdf features, we need to pull in those for travis testing
-- git: {local-name: urdfdom_headers, uri: 'https://github.com/ubi-agni/urdfdom_headers', version: ros-sensor-refactoring}
-- git: {local-name: urdfdom, uri: 'https://github.com/ubi-agni/urdfdom', version: sensor-refactoring}
-- git: {local-name: urdf, uri: 'https://github.com/ubi-agni/urdf', version: sensor-parsing}
 - git: {local-name: tactile_filters, uri: 'https://github.com/ubi-agni/tactile_filters', version: master}

urdf_tactile/package.xml

@@ -12,7 +12,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>cmake_modules</build_depend>
-  <depend>urdfdom</depend>
+  <depend>liburdfdom-dev</depend>
   <depend>roscpp</depend>
 
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