From b8cd04755fc9edc511a3e09127b86c6a60a28756 Mon Sep 17 00:00:00 2001
From: code_witch <vinaya-53>
Date: Tue, 21 Jul 2026 15:38:20 +0530
Subject: [PATCH] Migrate dave_sensor_models from catkin to ament_cmake for ROS
 2

- Replace catkin buildtool with ament_cmake
- Update package.xml from format 2 to format 3
- Change depend tags to exec_depend (install-only package)
- Fix install destination for ROS 2 share directory
---
 models/dave_robot_models/CMakeLists.txt  | 20 +++++++-------------
 models/dave_robot_models/package.xml     | 12 +++++++-----
 models/dave_sensor_models/CMakeLists.txt | 20 +++++++-------------
 models/dave_sensor_models/package.xml    | 12 +++++++-----
 4 files changed, 28 insertions(+), 36 deletions(-)

diff --git a/models/dave_robot_models/CMakeLists.txt b/models/dave_robot_models/CMakeLists.txt
index 67e1ed8a..a801dc61 100644
--- a/models/dave_robot_models/CMakeLists.txt
+++ b/models/dave_robot_models/CMakeLists.txt
@@ -1,20 +1,14 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(dave_robot_models)
 
-if(NOT "${CMAKE_VERSION}" VERSION_LESS "3.16")
-    set(CMAKE_CXX_STANDARD 17)
-    set(CMAKE_CXX_STANDARD_REQUIRED ON)
-else()
-    add_compile_options(-std=c++11)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(catkin REQUIRED COMPONENTS
-  gazebo_plugins
-  uuv_sensor_ros_plugins
-  ds_sim)
-
-catkin_package()
+find_package(ament_cmake REQUIRED)
 
 install(DIRECTORY models
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+        DESTINATION share/${PROJECT_NAME}
         PATTERN "*~" EXCLUDE)
+
+ament_package()
diff --git a/models/dave_robot_models/package.xml b/models/dave_robot_models/package.xml
index 57fb975c..dd671147 100644
--- a/models/dave_robot_models/package.xml
+++ b/models/dave_robot_models/package.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>dave_robot_models</name>
   <version>3.1.1</version>
   <description>The dave_robot_models package</description>
@@ -7,11 +8,12 @@
   <maintainer email="dtdavi1@nps.edu">dtdavis</maintainer>
   <license>Apache 2.0</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>gazebo_ros</exec_depend>
+  <exec_depend>uuv_sensor_ros_plugins</exec_depend>
+  <exec_depend>ds_sim</exec_depend>
 
-  <depend>gazebo_ros</depend>
-  <depend>uuv_sensor_ros_plugins</depend>
-  <depend>ds_sim</depend>
   <export>
     <gazebo_ros gazebo_model_path="${prefix}/models"/>
     <gazebo_ros gazebo_media_path="${prefix}"/>
diff --git a/models/dave_sensor_models/CMakeLists.txt b/models/dave_sensor_models/CMakeLists.txt
index 2df1f73e..a46014f1 100644
--- a/models/dave_sensor_models/CMakeLists.txt
+++ b/models/dave_sensor_models/CMakeLists.txt
@@ -1,20 +1,14 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(dave_sensor_models)
 
-if(NOT "${CMAKE_VERSION}" VERSION_LESS "3.16")
-    set(CMAKE_CXX_STANDARD 17)
-    set(CMAKE_CXX_STANDARD_REQUIRED ON)
-else()
-    add_compile_options(-std=c++11)
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(catkin REQUIRED COMPONENTS
-  gazebo_plugins
-  uuv_sensor_ros_plugins
-  ds_sim)
-
-catkin_package()
+find_package(ament_cmake REQUIRED)
 
 install(DIRECTORY models
-        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+        DESTINATION share/${PROJECT_NAME}
         PATTERN "*~" EXCLUDE)
+
+ament_package()
diff --git a/models/dave_sensor_models/package.xml b/models/dave_sensor_models/package.xml
index 662b8396..b3b72863 100644
--- a/models/dave_sensor_models/package.xml
+++ b/models/dave_sensor_models/package.xml
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>
-<package format="2">
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
   <name>dave_sensor_models</name>
   <version>3.1.1</version>
   <description>The dave_sensor_models package</description>
@@ -7,11 +8,12 @@
   <maintainer email="dtdavi1@nps.edu">dtdavis</maintainer>
   <license>Apache 2.0</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>gazebo_ros</exec_depend>
+  <exec_depend>uuv_sensor_ros_plugins</exec_depend>
+  <exec_depend>ds_sim</exec_depend>
 
-  <depend>gazebo_ros</depend>
-  <depend>uuv_sensor_ros_plugins</depend>
-  <depend>ds_sim</depend>
   <export>
     <gazebo_ros gazebo_model_path="${prefix}/models"/>
     <gazebo_ros gazebo_media_path="${prefix}"/>