From 59f402ec04112cdbed469adcf21fa7787973bd0b Mon Sep 17 00:00:00 2001
From: John Stechschulte <john@picknik.ai>
Date: Wed, 10 Mar 2021 11:01:23 -0700
Subject: [PATCH] builds in colcon

---
 CMakeLists.txt    | 19 -------------------
 package.xml       | 11 +++--------
 resource/criutils |  0
 setup.py          | 21 ++++++++++++++-------
 4 files changed, 17 insertions(+), 34 deletions(-)
 delete mode 100644 CMakeLists.txt
 create mode 100644 resource/criutils

diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index e1d8fe2..0000000
--- a/CMakeLists.txt
+++ /dev/null
@@ -1,19 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(criutils)
-
-find_package(catkin REQUIRED)
-
-catkin_python_setup()
-
-catkin_package()
-
-# Tests
-if (CATKIN_ENABLE_TESTING)
-  catkin_add_nosetests(tests)
-endif()
-
-# Install python scripts
-catkin_install_python(
-  PROGRAMS
-    scripts/tf_transform_broadcaster.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
diff --git a/package.xml b/package.xml
index 375b9e4..3b3c65a 100644
--- a/package.xml
+++ b/package.xml
@@ -12,8 +12,6 @@
     <url type="repository">https://github.com/crigroup/criutils</url>
     <url type="bugtracker">https://github.com/crigroup/criutils/issues</url>
 
-    <buildtool_depend>catkin</buildtool_depend>
-
     <exec_depend>baldor</exec_depend>
     <exec_depend>cv_bridge</exec_depend>
     <exec_depend>geometry_msgs</exec_depend>
@@ -24,17 +22,14 @@
     <exec_depend>std_msgs</exec_depend>
     <exec_depend>visualization_msgs</exec_depend>
 
-    <!-- Python 2 deps -->
-    <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-numpy</exec_depend>
-    <exec_depend condition="$ROS_PYTHON_VERSION == 2">python-termcolor</exec_depend>
-    <!-- Python 3 deps -->
-    <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-numpy</exec_depend>
-    <exec_depend condition="$ROS_PYTHON_VERSION == 3">python3-termcolor</exec_depend>
+    <exec_depend>python3-numpy</exec_depend>
+    <exec_depend>python3-termcolor</exec_depend>
 
     <doc_depend>rosdoc_lite</doc_depend>
 
     <export>
         <rosdoc config="rosdoc.yaml"/>
+        <build_type>ament_python</build_type>
     </export>
 
 </package>
diff --git a/resource/criutils b/resource/criutils
new file mode 100644
index 0000000..e69de29
diff --git a/setup.py b/setup.py
index faa3dfe..ca42a36 100644
--- a/setup.py
+++ b/setup.py
@@ -1,11 +1,18 @@
 #!/usr/bin/env python
 
 from distutils.core import setup
-from catkin_pkg.python_setup import generate_distutils_setup
 
-d = generate_distutils_setup(
-    packages=['criutils'],
-    package_dir={'': 'src'}
-)
-
-setup(**d)
+package_name='criutils'
+setup(
+        name=package_name,
+        version='0.1.4',
+        description='The criutils package',
+        author='Francisco Suarez-Ruiz',
+        author_email='fsuarez6@gmail.com',
+        url='http://wiki.ros.org/criutils',
+        packages=['src/' + package_name],
+        data_files=[
+            ('share/' + package_name, ['package.xml']),
+            ('share/ament_index/resource_index/packages', ['resource/' + package_name]),
+            ],
+        )