Noetic installation and remove cgal_catkin.

Author: rikba

README.md

@@ -13,8 +13,8 @@ Field and Service Robotics. Springer, Singapore, 2021.
 
 [![Watch the video](https://img.youtube.com/vi/u1UOqdJoK9s/sddefault.jpg)](https://youtu.be/u1UOqdJoK9s)
 
-## Installation on Ubuntu 18.04 and ROS melodic
-Install [ROS melodic](http://wiki.ros.org/melodic/Installation/Ubuntu).
+## Installation on Ubuntu 20.04 and ROS noetic
+Install [ROS noetic](http://wiki.ros.org/noetic/Installation/Ubuntu).
 Install [mono](https://www.mono-project.com/download/stable/#download-lin-ubuntu).
 
 Create a workspace.
@@ -24,7 +24,7 @@ mkdir -p catkin_ws/src
 cd catkin_ws
 catkin init
 catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
-catkin config --extend /opt/ros/melodic
+catkin config --extend /opt/ros/noetic
 ```
 
 Download package dependencies from [dependencies.rosinstall](install/dependencies.rosinstall).<br>

install/dependencies.rosinstall

@@ -1,3 +1,2 @@
 - git: {local-name: catkin_simple, uri: 'git@github.com:catkin/catkin_simple.git', version: 0e62848b12da76c8cc58a1add42b4f894d1ac21e}
-- git: {local-name: cgal_catkin, uri: 'git@github.com:ethz-asl/cgal_catkin.git', version: releases/CGAL-5.0.3}
 - git: {local-name: polygon_coverage_planning, uri: 'git@github.com:ethz-asl/polygon_coverage_planning.git', version: v2.0.4}

install/dependencies_https.rosinstall

@@ -1,3 +1,2 @@
 - git: {local-name: catkin_simple, uri: 'https://github.com/catkin/catkin_simple.git', version: 0e62848b12da76c8cc58a1add42b4f894d1ac21e}
-- git: {local-name: cgal_catkin, uri: 'https://github.com/ethz-asl/cgal_catkin.git', version: releases/CGAL-5.0.3}
 - git: {local-name: polygon_coverage_planning, uri: 'https://github.com/ethz-asl/polygon_coverage_planning.git', version: v2.0.4}

install/prepare-jenkins-slave.sh

@@ -4,12 +4,17 @@ ROS_VERSION=`rosversion -d`
 echo "ROS version: ${ROS_VERSION}"
 
 # Build dependencies.
-sudo apt-get install -y python-wstool python-catkin-tools
+if [[ $ROS_VERSION = 'melodic' ]]
+then
+  sudo apt install -y python-wstool python-catkin-tools
+else
+  sudo apt install -y python3-wstool python3-catkin-tools
+fi
 
 # Package dependencies.
 echo "Installing CGAL dependencies."
-sudo apt-get install -y libgmp-dev libmpfr-dev
+sudo apt install -y libgmp-dev libmpfr-dev
 echo "Installing MONO dependencies."
-sudo apt-get install -y mono-devel
+sudo apt install -y mono-devel
 echo "Installig GLOG dependencices."
-sudo apt-get install -y libgoogle-glog-dev
+sudo apt install -y libgoogle-glog-dev

polygon_coverage_geometry/package.xml

@@ -13,7 +13,6 @@
   <buildtool_depend>catkin</buildtool_depend>
   <buildtool_depend>catkin_simple</buildtool_depend>
 
-  <depend>cgal_catkin</depend>
   <depend>rosconsole</depend>
   <depend>roslib</depend>
   <depend>polygon_coverage_solvers</depend>

polygon_coverage_ros/package.xml

@@ -25,7 +25,6 @@
   <depend>polygon_coverage_msgs</depend>
   <depend>polygon_coverage_geometry</depend>
   <depend>polygon_coverage_planners</depend>
-  <depend>cgal_catkin</depend>
 
   <exec_depend>rviz_polygon_tool</exec_depend>
 

rviz_polygon_tool/package.xml

@@ -20,7 +20,6 @@
   <depend>polygon_coverage_msgs</depend>
   <depend>polygon_coverage_geometry</depend>
   <depend>geometry_msgs</depend>
-  <depend>cgal_catkin</depend>
 
   <export>
     <rviz plugin="${prefix}/plugin_description.xml"/>