Movespecification

Makes it easier to pipe results from xacro, and matches urdfdom_py's behavior
Closes ros#170

Signed-off-by: harleylara <[email protected]>

* upgrade from tinyxml to tinyxml2

* Remove 'using tinyxml2'

* Update github actions.

* Add in FindTinyXML2 for systems that don't have it.

* Make sure that tinyxml2::tinyxml2 is available in downstream packages

* Update urdfdom-config.cmake.in

* Replace InsertNewChildElement with GetDocument()->NewElement.

The former doesn't exist in older TinyXML2, and is just
a convenience function anyway.

* Fix generation of CMake config files.

Use the provided CMake primitives for this, which should
make it work in all situations.

* Install the FindTinyXML2.cmake file.

This is so downstream projects can always find it.

* Backup and restore the CMAKE_MODULE_PATH.

So we don't permanently manipulate it.

Signed-off-by: Chris Lalancette <[email protected]>
Co-authored-by: Silvio Traversaro <[email protected]>
Signed-off-by: harleylara <[email protected]>

Signed-off-by: harleylara <[email protected]>

That way, we don't have to export the tinyxml2 dependencies
to downstream consumers.  It is just a private dependency
at that point.

Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: harleylara <[email protected]>

There are some absolute path in the generation of the .cmake files
which ruin the creation of relocatable packages.
Fixing:
 * CMAKE_MODULE_PATH append instead of replacement
 * INTERFACE use relative path instead of ${CMAKE_INSTALL_INCLUDEDIR}

See also

https://cmake.org/cmake/help/latest/guide/importing-exporting/index.html#creating-relocatable-packages

for reference.

Signed-off-by: Matthias Schoepfer <[email protected]>
Co-authored-by: Matthias Schoepfer <[email protected]>
Signed-off-by: harleylara <[email protected]>

* Deprecate the APIs that we think are unused.

In an earlier commit, we changed from tinyxml -> tinyxml2
in the public API because we thought that there were no
users of these APIs.  Codify that here by marking these
APIs as deprecated; if a user comes along and says that
they are actually using it, we can undeprecated it.

Note that in order to avoid deprecations from within the
library, I had to add a bit of additional indirection here.
If we remove the APIs in the future, we can also remove this
indirection.

* Properly export parsePoseInternal to make Windows happy.

Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: harleylara <[email protected]>

Signed-off-by: Chris Lalancette <[email protected]>
Signed-off-by: harleylara <[email protected]>

Signed-off-by: harleylara <[email protected]>

Signed-off-by: harleylara <[email protected]>

…o movespecification