WIP: 1) Compatible with ROS Noetic, 2) Cleanup

[d130s]

NOTE: Do NOT merge into master unless the default ROS version is updated to ROS Noetic or newer.

Problem

As the environment requiremet of vorc 2020 is ROS Melodic, the pkg does not build on a newer ROS environment, e.g. Noetic.

# colcon build
:
CMake Error at /opt/ros/noetic/share/xacro/cmake/xacro-extras.cmake:49 (message):
  no <output> specified for: INORDER
Call Stack (most recent call first):
  /opt/ros/noetic/share/xacro/cmake/xacro-extras.cmake:167 (xacro_add_xacro_file)
  CMakeLists.txt:5 (xacro_add_files)

Approach

Remove the obsolete option from xacro's cmake macro.

Changes added in this PR

• Fix for the aforementioned xacro issue.
• Add missing dependency that roscompile revealed (which has nothing to do with Noetic conversion).

[mabelzhang]

Thanks for the PR! I guess we could possibly create a new branch for Noetic.

Did you have to install using different packages? I seem to remember some packages didn't exist for Noetic or something else in the Wiki installation instructions not working for Noetic, but I don't recall exactly what.

[d130s]

Did you have to install using different packages?

The added dependencies are simply those that are "used somewhere in the package but not listed in package.xml", so this PR just makes up what's missing. As mentioned in the description, roscompile helped finding those. This doesn't mean I had a trouble with those packages missing (in my case those pkgs were already installed on my environment).

If desired I can separate this PR and open another one for the added dependency. But my guess is that current participants either don't have any issue due to these missing deps, or have dealt with it.

[mabelzhang]

I was thinking more of system dependency packages here https://github.com/osrf/vorc/wiki/Installation-on-Host

For example, I don't think hector-gazebo-plugins has a package for Noetic. I just tried this now in Noetic with all the keys etc set up,

$ apt-cache search ros-noetic-hector-gazebo-plugins

and it returns nothing.

This was the case when I tried to set up VORC with Noetic initially, and that was why I stuck with Melodic. We cannot officially support Noetic if some of the required dependencies don't exist, without some time put in to look for substitutes for these in Noetic. So that would tell me whether we open a branch for noetic or just leave this PR open and whoever that wants to use it can use it, without us officially saying our wiki and other instructions work for Noetic as well.

[mabelzhang]

Ooh hector_gazebo_plugins is soon to be available in Noetic: ros/rosdistro#27797
Pending the next Noetic sync, which probably won't be till the new year.