Should this wait for #32 and be added to the "only install the dependencies if appropriate" part ?

windows:
linux:
The windows build are compiled with the choco packages for tinyxml and eigen3.

As discussed offline, I think these changes should go into the ros2.repos as I consider the robot_state_publisher a critical package which should be shipped to all platforms.

Is there a reason not to use TinyXML2 (libtinyxml2-dev)? Newer versions of FastRTPS use version 2 so it would be good if we use it here too.

That would require a change in URDFdom / URDFdom_headers / orocos_kdl / robot_model. For now, we only have minor changes to these packages.

I am not sure if both versions can be used at the same time which would be necessary as soon as we update to the latest FastRTPS version again (if they are exposed transitively through the headers).

TinyXML and TinyXML2 are completely separate. They can be used at the same time. We already have this case in ROS 1, where urdf uses tinyxml(1) and other stuff uses tinyxml2. On my machine, both are installed:

william@farl ~
% brew list tinyxml
/usr/local/Cellar/tinyxml/2.6.2/include/tinyxml.h
/usr/local/Cellar/tinyxml/2.6.2/lib/libtinyxml.dylib
/usr/local/Cellar/tinyxml/2.6.2/lib/pkgconfig/tinyxml.pc

william@farl ~
% brew list tinyxml2
/usr/local/Cellar/tinyxml2/4.0.1/include/tinyxml2.h
/usr/local/Cellar/tinyxml2/4.0.1/lib/libtinyxml2.4.0.1.dylib
/usr/local/Cellar/tinyxml2/4.0.1/lib/pkgconfig/tinyxml2.pc
/usr/local/Cellar/tinyxml2/4.0.1/lib/ (2 other files)

I believe it is the same on Linux.

So it compiles on all platforms, can anybody give feedback on that?
ros2/demos#118

I believe it is the same on Linux.

Can someone verify this that has a Xenial system handy?

Also, don't forget to update the installation (binary and source) guide on the wiki. Also for macOS and manually install these on the macOS Jenkins nodes.

didn't check for symbol collision, but so far:

karsten@karsten-mint ~ $ ll /usr/include/tinyxml*
-rw-r--r-- 1 root root 62897 Jul 30  2015 /usr/include/tinyxml2.h
-rw-r--r-- 1 root root 64887 Aug  5  2015 /usr/include/tinyxml.h

karsten@karsten-mint ~ $ ll /usr/lib/x86_64-linux-gnu/libtinyxml*
-rw-r--r-- 1 root root 139980 Jul 30  2015 /usr/lib/x86_64-linux-gnu/libtinyxml2.a
lrwxrwxrwx 1 root root     16 Jul 30  2015 /usr/lib/x86_64-linux-gnu/libtinyxml2.so -> libtinyxml2.so.2
lrwxrwxrwx 1 root root     20 Jul 30  2015 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2 -> libtinyxml2.so.2.2.0
-rw-r--r-- 1 root root  76296 Jul 30  2015 /usr/lib/x86_64-linux-gnu/libtinyxml2.so.2.2.0
-rw-r--r-- 1 root root 163194 Aug  5  2015 /usr/lib/x86_64-linux-gnu/libtinyxml.a
lrwxrwxrwx 1 root root     19 Aug  5  2015 /usr/lib/x86_64-linux-gnu/libtinyxml.so -> libtinyxml.so.2.6.2
-rw-r--r-- 1 root root  88768 Aug  5  2015 /usr/lib/x86_64-linux-gnu/libtinyxml.so.2.6.2

Yep, I know that several ROS1 packages depend on tinyxml2 while several low level packages in ROS depend on tinyxml. They are different packages and can coexist without problem