From 8671d9cc8ccfd4788f62082a566a828f11a03b3d Mon Sep 17 00:00:00 2001
From: Mikael Arguedas <mikael.arguedas@gmail.com>
Date: Wed, 29 Jul 2020 08:58:35 +0200
Subject: [PATCH 1/3] trim boost dependencies

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
---
 CMakeLists.txt | 2 +-
 package.xml    | 8 +++++++-
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index acc008c4..521d9059 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,7 +31,7 @@ find_library(ASSIMP_ABS_LIBRARIES NAMES ${ASSIMP_LIBRARIES} assimp HINTS ${ASSIM
 set(ASSIMP_LIBRARIES "${ASSIMP_ABS_LIBRARIES}")
 
 find_package(rclcpp REQUIRED)
-find_package(Boost REQUIRED system filesystem)
+find_package(Boost REQUIRED filesystem math)
 find_package(console_bridge_vendor REQUIRED)
 find_package(console_bridge REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
diff --git a/package.xml b/package.xml
index e0e7f0c3..58e2be13 100644
--- a/package.xml
+++ b/package.xml
@@ -26,7 +26,6 @@
   <build_export_depend>eigen</build_export_depend>
 
   <depend>rclcpp</depend>
-  <depend>boost</depend>
   <depend>eigen_stl_containers</depend>
   <depend>console_bridge_vendor</depend>
   <depend>libqhull</depend>
@@ -39,8 +38,15 @@
 
   <build_depend>assimp-dev</build_depend>
   <build_depend>pkg-config</build_depend>
+  <build_depend>libboost-dev</build_depend>
+  <build_depend>libboost-filesystem-dev</build_depend>
+  <build_depend>libboost-math-dev</build_depend>
+
+  <build_export_depend>libboost-dev</build_export_depend>
 
   <exec_depend>assimp</exec_depend>
+  <exec_depend>libboost-filesystem</exec_depend>
+  <exec_depend>libboost-math</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>

From 1f650dc3938f4b9bba0d0a292ae908cb04d7df13 Mon Sep 17 00:00:00 2001
From: Mikael Arguedas <mikael.arguedas@gmail.com>
Date: Thu, 30 Jul 2020 09:05:49 +0200
Subject: [PATCH 2/3] move author tags below to comply with the xsd

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
---
 package.xml | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/package.xml b/package.xml
index 58e2be13..cfc37526 100644
--- a/package.xml
+++ b/package.xml
@@ -5,15 +5,15 @@
   <version>0.7.0</version>
   <description>This package contains generic definitions of geometric shapes and bodies.</description>
 
-  <author email="isucan@google.com">Ioan Sucan</author>
-  <author email="gjones@willowgarage.edu">Gil Jones</author>
-
   <maintainer email="dave@dav.ee">Dave Coleman</maintainer>
   <maintainer email="130s@2000.jukuin.keio.ac.jp">Isaac I. Y. Saito</maintainer>
 
   <license>BSD</license>
   <url>http://ros.org/wiki/geometric_shapes</url>
 
+  <author email="isucan@google.com">Ioan Sucan</author>
+  <author email="gjones@willowgarage.edu">Gil Jones</author>
+
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 

From a3b927ac626dfeb1bb8f5cca1bab03cfa7e36728 Mon Sep 17 00:00:00 2001
From: Mikael Arguedas <mikael.arguedas@gmail.com>
Date: Fri, 14 Aug 2020 21:42:47 +0200
Subject: [PATCH 3/3] libboost-math libraries unnecessary as only headers-only
 parts are used

Signed-off-by: Mikael Arguedas <mikael.arguedas@gmail.com>
---
 CMakeLists.txt | 2 +-
 package.xml    | 2 --
 2 files changed, 1 insertion(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 521d9059..33a03d2c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -31,7 +31,7 @@ find_library(ASSIMP_ABS_LIBRARIES NAMES ${ASSIMP_LIBRARIES} assimp HINTS ${ASSIM
 set(ASSIMP_LIBRARIES "${ASSIMP_ABS_LIBRARIES}")
 
 find_package(rclcpp REQUIRED)
-find_package(Boost REQUIRED filesystem math)
+find_package(Boost REQUIRED filesystem)
 find_package(console_bridge_vendor REQUIRED)
 find_package(console_bridge REQUIRED)
 find_package(eigen3_cmake_module REQUIRED)
diff --git a/package.xml b/package.xml
index cfc37526..4be67cb9 100644
--- a/package.xml
+++ b/package.xml
@@ -40,13 +40,11 @@
   <build_depend>pkg-config</build_depend>
   <build_depend>libboost-dev</build_depend>
   <build_depend>libboost-filesystem-dev</build_depend>
-  <build_depend>libboost-math-dev</build_depend>
 
   <build_export_depend>libboost-dev</build_export_depend>
 
   <exec_depend>assimp</exec_depend>
   <exec_depend>libboost-filesystem</exec_depend>
-  <exec_depend>libboost-math</exec_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
 
   <test_depend>ament_cmake_gtest</test_depend>