update ifdefine

src/Libraries/robot_cpp/CMakeLists.txt

@@ -31,88 +31,24 @@ if(BUILDING_WITH_CATKIN)
 endif()
 
 ## System dependencies
-# Find yaml-cpp shared library first, prioritizing system installation over /usr/local
+# Find yaml-cpp library
-# This avoids using static library from /usr/local/lib
+find_package(yaml-cpp REQUIRED)
 
-# First, try pkg-config to get the correct library path
+# Use target if available (modern CMake)
-find_package(PkgConfig QUIET)
+if(TARGET yaml-cpp::yaml-cpp)
-if(PkgConfig_FOUND)
-  pkg_check_modules(YAMLCPP_PKG yaml-cpp QUIET)
-  if(YAMLCPP_PKG_FOUND AND YAMLCPP_PKG_LIBRARIES)
-    set(YAML_CPP_TARGET ${YAMLCPP_PKG_LIBRARIES})
-    message(STATUS "Using yaml-cpp from pkg-config: ${YAML_CPP_TARGET}")
-  endif()
-endif()
-
-# If pkg-config didn't work, find shared library directly, prioritizing /usr/lib
-if(NOT YAML_CPP_TARGET)
-  # First try system paths (avoid /usr/local which may have static library)
-  find_library(YAML_CPP_SHARED_LIB
-    NAMES yaml-cpp
-    PATHS /usr/lib
-    PATH_SUFFIXES x86_64-linux-gnu
-    NO_DEFAULT_PATH
-  )
-  
-  if(YAML_CPP_SHARED_LIB AND EXISTS "${YAML_CPP_SHARED_LIB}")
-    # Verify it's actually a shared library (not a symlink to static)
-    get_filename_component(YAML_CPP_REAL_LIB "${YAML_CPP_SHARED_LIB}" REALPATH)
-    if(YAML_CPP_REAL_LIB MATCHES "\\.so")
-      set(YAML_CPP_TARGET ${YAML_CPP_SHARED_LIB})
-      message(STATUS "Found yaml-cpp shared library in /usr/lib: ${YAML_CPP_SHARED_LIB}")
-      # Also find include directory
-      find_path(YAML_CPP_INCLUDE_DIR
-        NAMES yaml-cpp/yaml.h
-        PATHS /usr/include
-        NO_DEFAULT_PATH
-      )
-      if(YAML_CPP_INCLUDE_DIR)
-        message(STATUS "Found yaml-cpp include directory: ${YAML_CPP_INCLUDE_DIR}")
-      endif()
-    endif()
-  endif()
-endif()
-
-# Now use find_package, but temporarily exclude /usr/local to avoid static library
-set(CMAKE_PREFIX_PATH_SAVED ${CMAKE_PREFIX_PATH})
-list(REMOVE_ITEM CMAKE_PREFIX_PATH "/usr/local")
-find_package(yaml-cpp QUIET)
-set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH_SAVED})
-
-# Use target if available and we haven't found a library yet
-if(NOT YAML_CPP_TARGET)
-  if(TARGET yaml-cpp::yaml-cpp)
   set(YAML_CPP_TARGET yaml-cpp::yaml-cpp)
   message(STATUS "Using yaml-cpp target: yaml-cpp::yaml-cpp")
-  elseif(TARGET yaml-cpp)
+elseif(TARGET yaml-cpp)
   set(YAML_CPP_TARGET yaml-cpp)
   message(STATUS "Using yaml-cpp target: yaml-cpp")
-  else()
+elseif(yaml-cpp_LIBRARIES)
-    # Last resort: try to find any library, but check if it's static
+  # Fallback to library variable if target not available
-    find_library(YAML_CPP_ANY_LIB
+  set(YAML_CPP_TARGET ${yaml-cpp_LIBRARIES})
-      NAMES yaml-cpp
+  message(STATUS "Using yaml-cpp library: ${YAML_CPP_TARGET}")
-      PATHS /usr/lib /usr/local/lib /lib
+else()
-      PATH_SUFFIXES x86_64-linux-gnu
+  # Last resort: use library name
-    )
-    
-    if(YAML_CPP_ANY_LIB)
-      if(YAML_CPP_ANY_LIB MATCHES "\\.a$")
-        message(FATAL_ERROR 
-          "yaml-cpp static library found at: ${YAML_CPP_ANY_LIB}\n"
-          "This cannot be linked into a shared library.\n"
-          "Solution: Remove static library or use system shared library:\n"
-          "  sudo rm /usr/local/lib/libyaml-cpp.a\n"
-          "Or ensure /usr/lib/x86_64-linux-gnu/libyaml-cpp.so is found first."
-        )
-      else()
-        set(YAML_CPP_TARGET ${YAML_CPP_ANY_LIB})
-        message(STATUS "Found yaml-cpp library: ${YAML_CPP_TARGET}")
-      endif()
-    else()
   set(YAML_CPP_TARGET yaml-cpp)
-      message(WARNING "yaml-cpp library not found. Using library name 'yaml-cpp'")
+  message(STATUS "Using yaml-cpp library name: yaml-cpp")
-    endif()
-  endif()
 endif()
 
 find_package(console_bridge REQUIRED)
@@ -179,16 +115,6 @@ target_link_libraries(${PROJECT_NAME}
     dl  # Required for dladdr() function used in plugin_loader_helper.cpp
 )
 
-# Check if we're using static library and warn user
-if(YAML_CPP_TARGET MATCHES "\\.a$" OR YAML_CPP_TARGET MATCHES "libyaml-cpp\\.a")
-  message(FATAL_ERROR 
-    "yaml-cpp static library detected at: ${YAML_CPP_TARGET}\n"
-    "Static libraries cannot be linked into shared libraries without -fPIC.\n"
-    "Solution: Install shared library version:\n"
-    "  sudo apt-get install libyaml-cpp-dev\n"
-    "Or rebuild yaml-cpp with -fPIC flag."
-  )
-endif()
 
 
 ## Add cmake target dependencies

src/Libraries/robot_cpp/package.xml

@@ -19,10 +19,9 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
   <build_depend>robot_xmlrpcpp</build_depend>
-
+  <build_depend>robot_time</build_depend>
-  <run_depend>libconsole-bridge-dev</run_depend>
   <run_depend>robot_xmlrpcpp</run_depend>
+  <run_depend>robot_time</run_depend>
 
 </package> 

src/Libraries/robot_nav_2d_utils/CMakeLists.txt

@@ -1,19 +1,4 @@
 cmake_minimum_required(VERSION 3.10)
-
-# ========================================================
-# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
-# ========================================================
-
-# Detect if building with Catkin
-if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
-  set(BUILDING_WITH_CATKIN TRUE)
-  message(STATUS "Building robot_nav_2d_utils with Catkin")
-  find_package(catkin REQUIRED)
-else()
-  set(BUILDING_WITH_CATKIN FALSE)
-  message(STATUS "Building robot_nav_2d_utils with Standalone CMake")
-endif()
-
 project(robot_nav_2d_utils VERSION 1.0.0 LANGUAGES CXX)
 
 set(CMAKE_CXX_STANDARD 17)
@@ -32,7 +17,18 @@ set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
 # Catkin specific configuration
 # ========================================================
 
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building robot_nav_2d_utils with Catkin")
+
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_nav_2d_utils with Standalone CMake")
+endif()
+
 if(BUILDING_WITH_CATKIN)
+  find_package(catkin REQUIRED COMPONENTS robot_xmlrpcpp)
+
   catkin_package(
     INCLUDE_DIRS include
     LIBRARIES conversions path_ops polygons bounds tf_help robot_nav_2d_utils

src/Libraries/robot_nav_2d_utils/package.xml

@@ -19,8 +19,7 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
+  <build_depend>robot_xmlrpcpp</build_depend>
-
+  <run_depend>robot_xmlrpcpp</run_depend>
-  <run_depend>libconsole-bridge-dev</run_depend>
 
 </package>

src/Libraries/tf3/include/tf3/LinearMath/MinMax.h

@@ -14,8 +14,8 @@ subject to the following restrictions:
 
 
 
-#ifndef GEN_MINMAX_H
+#ifndef TF3_GEN_MINMAX_H
-#define GEN_MINMAX_H
+#define TF3_GEN_MINMAX_H
 
 #include "Scalar.h"
 
@@ -33,7 +33,7 @@ TF3SIMD_FORCE_INLINE const T& tf3Max(const T& a, const T& b)
 }
 
 template <class T>
-TF3SIMD_FORCE_INLINE const T& GEN_clamped(const T& a, const T& lb, const T& ub) 
+TF3SIMD_FORCE_INLINE const T& tf3GEN_clamped(const T& a, const T& lb, const T& ub) 
 {
 	return a < lb ? lb : (ub < a ? ub : a); 
 }
@@ -57,7 +57,7 @@ TF3SIMD_FORCE_INLINE void tf3SetMax(T& a, const T& b)
 }
 
 template <class T>
-TF3SIMD_FORCE_INLINE void GEN_clamp(T& a, const T& lb, const T& ub) 
+TF3SIMD_FORCE_INLINE void tf3GEN_clamp(T& a, const T& lb, const T& ub) 
 {
 	if (a < lb) 
 	{