Merge pull request #67 from suryaambrose/master

Fix broken compilation with libqi-2.5

-std=gnu++11 is not mandatory as this flag will be added when importing libqi (ros-naoqi/libqi-release@c26f57e). This PR should therefore be enough to make naoqi_driver work with libqi2.3 and 2.5

CMakeLists_catkin.txt

@@ -24,6 +24,8 @@ find_package(catkin COMPONENTS
 find_package(OpenCV)
 find_package(orocos_kdl)
 
+add_definitions(-DLIBQI_VERSION=${naoqi_libqi_VERSION_MAJOR}${naoqi_libqi_VERSION_MINOR})
+
 catkin_package(LIBRARIES naoqi_driver_module naoqi_driver)
 
 if(CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX)

include/naoqi_driver/tools.hpp

@@ -62,7 +62,12 @@ enum DataType
 
 } // naoqi
 
+#if LIBQI_VERSION>24
+QI_TYPE_ENUM(naoqi::Topics);
+QI_TYPE_ENUM(naoqi::dataType::DataType);
+#else
 QI_TYPE_ENUM_REGISTER(naoqi::Topics);
 QI_TYPE_ENUM_REGISTER(naoqi::dataType::DataType);
+#endif
 
 #endif

src/external_registration.cpp

@@ -65,7 +65,11 @@ int main(int argc, char** argv)
 
 
   // everything's correctly parsed - let's start the app!
+#if LIBQI_VERSION>24
+  app.startSession();
+#else
   app.start();
+#endif
   boost::shared_ptr<naoqi::Driver> bs = boost::make_shared<naoqi::Driver>(app.session(), vm["namespace"].as<std::string>());
 
   app.session()->registerService("ROS-Driver", bs);