From 0e0c1e5acd4d960e73779f8e441addfb58bc1002 Mon Sep 17 00:00:00 2001
From: Chris Lalancette <clalancette@openrobotics.org>
Date: Fri, 23 Oct 2020 16:53:58 +0000
Subject: [PATCH] Switch to using the filesystem implementation in rcpputils.

That implementation is more complete and better tested.  This
also gets us closer to remove the pluginlib implementation
of the filesystem helper.

Note that this doesn't really change the dependencies of this
package; this package already recursively depended on rcpputils,
now it just directly depends on it.

Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
---
 qt_gui_cpp/CMakeLists.txt                                     | 3 ++-
 qt_gui_cpp/include/qt_gui_cpp/ros_pluginlib_plugin_provider.h | 4 ++--
 qt_gui_cpp/package.xml                                        | 4 +++-
 qt_gui_cpp/src/qt_gui_cpp/CMakeLists.txt                      | 4 ++--
 4 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/qt_gui_cpp/CMakeLists.txt b/qt_gui_cpp/CMakeLists.txt
index bfaf404a..550d3e39 100644
--- a/qt_gui_cpp/CMakeLists.txt
+++ b/qt_gui_cpp/CMakeLists.txt
@@ -19,6 +19,7 @@ if(WIN32)
 endif()
 
 find_package(pluginlib REQUIRED)
+find_package(rcpputils REQUIRED)
 find_package(tinyxml2_vendor REQUIRED)
 find_package(TinyXML2 REQUIRED)
 
@@ -35,7 +36,7 @@ install(
   DESTINATION include
 )
 
-ament_export_dependencies(pluginlib)
+ament_export_dependencies(pluginlib rcpputils)
 ament_export_include_directories(include)
 
 ament_export_include_directories(include)
diff --git a/qt_gui_cpp/include/qt_gui_cpp/ros_pluginlib_plugin_provider.h b/qt_gui_cpp/include/qt_gui_cpp/ros_pluginlib_plugin_provider.h
index e59c2793..ca0a8fe7 100644
--- a/qt_gui_cpp/include/qt_gui_cpp/ros_pluginlib_plugin_provider.h
+++ b/qt_gui_cpp/include/qt_gui_cpp/ros_pluginlib_plugin_provider.h
@@ -44,7 +44,7 @@
 #include "plugin_provider.h"
 
 #include <pluginlib/class_loader.hpp>
-#include <pluginlib/impl/filesystem_helper.hpp>
+#include <rcpputils/filesystem_helper.hpp>
 #include <tinyxml2.h>
 
 #include <QCoreApplication>
@@ -145,7 +145,7 @@ class RosPluginlibPluginProvider
 
       std::string name = class_loader_->getName(lookup_name);
       std::string plugin_xml = class_loader_->getPluginManifestPath(lookup_name);
-      pluginlib::impl::fs::path p(plugin_xml);
+      rcpputils::fs::path p(plugin_xml);
       std::string plugin_path = p.parent_path().string();
 
       QMap<QString, QString> attributes;
diff --git a/qt_gui_cpp/package.xml b/qt_gui_cpp/package.xml
index f35e71fc..8d442748 100644
--- a/qt_gui_cpp/package.xml
+++ b/qt_gui_cpp/package.xml
@@ -20,14 +20,16 @@
   <build_depend version_gte="0.3.0">python_qt_binding</build_depend>
   <build_depend>qt5-qmake</build_depend>
   <build_depend>qtbase5-dev</build_depend>
+  <build_depend>rcpputils</build_depend>
   <build_depend>tinyxml2_vendor</build_depend>
 
   <exec_depend version_gte="1.9.23">pluginlib</exec_depend>
   <exec_depend version_gte="0.3.0">qt_gui</exec_depend>
+  <exec_depend>rcpputils</exec_depend>
   <exec_depend>tinyxml2_vendor</exec_depend>
 
   <test_depend>ament_cmake_pytest</test_depend>
-  
+
   <export>
     <build_type>ament_cmake</build_type>
     <qt_gui plugin="${prefix}/plugin.xml"/>
diff --git a/qt_gui_cpp/src/qt_gui_cpp/CMakeLists.txt b/qt_gui_cpp/src/qt_gui_cpp/CMakeLists.txt
index c9e4bc7d..4818abc1 100644
--- a/qt_gui_cpp/src/qt_gui_cpp/CMakeLists.txt
+++ b/qt_gui_cpp/src/qt_gui_cpp/CMakeLists.txt
@@ -34,13 +34,13 @@ set(qt_gui_cpp_LINK_LIBRARIES
 
 qt5_wrap_cpp(qt_gui_cpp_MOCS ${qt_gui_cpp_HDRS})
 
-ament_export_dependencies(pluginlib TinyXML2)
+ament_export_dependencies(pluginlib rcpputils TinyXML2)
 add_library(${PROJECT_NAME} ${qt_gui_cpp_SRCS} ${qt_gui_cpp_MOCS})
 target_include_directories(${PROJECT_NAME} PUBLIC
   "$<BUILD_INTERFACE:${CMAKE_SOURCE_DIR}/include>"
   "$<INSTALL_INTERFACE:include>")
 target_include_directories(${PROJECT_NAME} PRIVATE ${qt_gui_cpp_INCLUDE_DIRECTORIES})
-ament_target_dependencies(${PROJECT_NAME} pluginlib TinyXML2)
+ament_target_dependencies(${PROJECT_NAME} pluginlib rcpputils TinyXML2)
 
 if (WIN32)
   # On Windows systems, Visual Studio does not currently set __cplusplus correctly unless this