switching to catkin

2012-08-02 17:51:31 -07:00 · 2012-08-02 17:51:31 -07:00 · 0bbe586ef5
parent edb003f44a
commit 0bbe586ef5
12 changed files with 202 additions and 148 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@ -1,19 +1,19 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+cmake_minimum_required(VERSION 2.8)
+project(robot_model)

-set(ROSPACK_MAKEDIST true)
+find_package(catkin REQUIRED)

-# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of
-# directories (or patterns, but directories should suffice) that should
-# be excluded from the distro.  This is not the place to put things that
-# should be ignored everywhere, like "build" directories; that happens in
-# rosbuild/rosbuild.cmake.  Here should be listed packages that aren't
-# ready for inclusion in a distro.
-#
-# This list is combined with the list in rosbuild/rosbuild.cmake.  Note
-# that CMake 2.6 may be required to ensure that the two lists are combined
-# properly.  CMake 2.4 seems to have unpredictable scoping rules for such
-# variables.
-#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
+catkin_stack()

-rosbuild_make_distribution(1.8.0)
+add_subdirectory(resource_retriever)
+add_subdirectory(srdf)
+add_subdirectory(urdf_interface)
+add_subdirectory(urdf_parser)
+add_subdirectory(collada_parser)
+add_subdirectory(urdf)
+add_subdirectory(collada_urdf)
+add_subdirectory(kdl_parser)
+
+#add_subdirectory(convex_decomposition)
+#add_subdirectory(ivcon)
+#add_subdirectory(simmechanics_to_urdf)
--- a/collada_parser/CMakeLists.txt
+++ b/collada_parser/CMakeLists.txt
@ -1,17 +1,13 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+project(collada_parser)

-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
+catkin_project(${PROJECT_NAME} 
+  LIBRARIES ${PROJECT_NAME}
+  INCLUDE_DIRS include)

-rosbuild_init()
+include_directories(include)

-rosbuild_add_boost_directories()
+find_package(Boost REQUIRED)
+include_directories(${Boost_INCLUDE_DIR})

 find_package(urdfdom_headers REQUIRED)
 include_directories(${urdfdom_headers_INCLUDE_DIRS})
@ -21,31 +17,27 @@ find_package(PkgConfig)
 find_package(COLLADA_DOM 2.3 COMPONENTS 1.5)
 if( COLLADA_DOM_FOUND )
  include_directories(${COLLADA_DOM_INCLUDE_DIRS})
-  #link_directories(${COLLADA_DOM_LIBRARY_DIRS})
+  link_directories(${COLLADA_DOM_LIBRARY_DIRS})
 endif()

-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
 # necessary for collada reader to create the temporary dae files due to limitations in the URDF geometry
+include (CheckFunctionExists)
 check_function_exists(mkstemps HAVE_MKSTEMPS)
 if( HAVE_MKSTEMPS )
  add_definitions("-DHAVE_MKSTEMPS")
 endif()

 #common commands for building c++ executables and libraries
-rosbuild_add_library(${PROJECT_NAME} src/collada_parser.cpp)
-
-rosbuild_add_compile_flags(${PROJECT_NAME} "${COLLADA_DOM_CFLAGS_OTHER}")
-rosbuild_add_link_flags(${PROJECT_NAME} "${COLLADA_DOM_LDFLAGS_OTHER}")
+add_library(${PROJECT_NAME} src/collada_parser.cpp)
+target_link_libraries(${PROJECT_NAME} ${COLLADA_DOM_LIBRARIES})

+set_target_properties(${PROJECT_NAME} PROPERTIES COMPILER_FLAGS "${COLLADA_DOM_CFLAGS_OTHER}")
 if(APPLE) 
-  rosbuild_add_link_flags(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") 
-endif(APPLE)
-
-#target_link_libraries(${PROJECT_NAME} another_library)
-
-#rosbuild_link_boost(${PROJECT_NAME} thread)
+  set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "${COLLADA_DOM_LDFLAGS_OTHER} -undefined dynamic_lookup") 
+else()
+  set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "${COLLADA_DOM_LDFLAGS_OTHER}") 
+endif()

+# for compatibility with old build system
+install(FILES manifest.xml
+        DESTINATION share/${PROJECT_NAME})
--- a/collada_urdf/CMakeLists.txt
+++ b/collada_urdf/CMakeLists.txt
@ -1,16 +1,19 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-set(ROS_BUILD_TYPE RelWithDebInfo)
-rosbuild_init()
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+project(collada_urdf)

-link_libraries(tinyxml)
+catkin_project(${PROJECT_NAME} 
+  LIBRARIES ${PROJECT_NAME}
+  INCLUDE_DIRS include)

-find_package(ASSIMP)
-if( NOT ASSIMP_FOUND )
+include_directories(include)
+
+find_package(Boost REQUIRED COMPONENTS system)
+include_directories(${Boost_INCLUDE_DIR})
+
+find_package(assimp QUIET)
+if( NOT assimp_FOUND )
+  find_package(PkgConfig REQUIRED)
  pkg_check_modules(ASSIMP assimp)
 endif()
-
 if( ASSIMP_FOUND )
  if( ${ASSIMP_VERSION} STRGREATER "2.0.0" )
    set(IS_ASSIMP3 1)
@ -29,14 +32,42 @@ else()
  set(IS_ASSIMP3 0) # most likely not
 endif()

-rosbuild_add_library(collada_urdf src/collada_urdf.cpp)
-rosbuild_link_boost(collada_urdf system)
-target_link_libraries(collada_urdf ${ASSIMP_LIBRARIES})
-rosbuild_add_compile_flags(collada_urdf "${ASSIMP_CXX_FLAGS} ${ASSIMP_CFLAGS_OTHER}")
-rosbuild_add_link_flags(collada_urdf "${ASSIMP_LINK_FLAGS}")
+find_library(tinyxml_library tinyxml)

-rosbuild_add_executable(urdf_to_collada src/urdf_to_collada.cpp)
-target_link_libraries(urdf_to_collada collada_urdf)
+find_package(COLLADA_DOM 2.3 COMPONENTS 1.5)
+if( COLLADA_DOM_FOUND )
+  include_directories(${COLLADA_DOM_INCLUDE_DIRS})
+  link_directories(${COLLADA_DOM_LIBRARY_DIRS})
+endif()

-rosbuild_add_gtest(test_collada_writer test/test_collada_urdf.cpp)
-target_link_libraries(test_collada_writer collada_urdf)
+find_package(urdf)
+include_directories(${urdf_INCLUDE_DIRS})
+
+find_package(urdfdom)
+include_directories(${urdfdom_INCLUDE_DIRS})
+
+find_package(collada_parser)
+include_directories(${collada_parser_INCLUDE_DIRS})
+
+find_package(resource_retriever)
+include_directories(${resource_retriever_INCLUDE_DIRS})
+
+find_package(geometry_angles_utils)
+include_directories(${geometry_angles_utils_INCLUDE_DIRS})
+
+add_library(collada_urdf src/collada_urdf.cpp)
+target_link_libraries(${PROJECT_NAME} ${tinyxml_library} ${ASSIMP_LIBRARIES} ${collada_parser_LIBRARIES} ${COLLADA_DOM_LIBRARIES} ${urdf_LIBRARIES} ${urdfdom_LIBRARIES}
+  ${resource_retriever_LIBRARIES} ${geometry_angles_utils_LIBRARIES} ${Boost_LIBRARIES})
+set_target_properties(${PROJECT_NAME} PROPERTIES COMPILER_FLAGS "${ASSIMP_CXX_FLAGS} ${ASSIMP_CFLAGS_OTHER}")
+set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "${ASSIMP_LINK_FLAGS}") 
+
+add_executable(urdf_to_collada src/urdf_to_collada.cpp)
+target_link_libraries(urdf_to_collada ${PROJECT_NAME})
+
+add_gtest(test_collada_writer test/test_collada_urdf.cpp)
+target_link_libraries(test_collada_writer ${PROJECT_NAME})
+
+
+# for compatibility with old build system
+install(FILES manifest.xml
+        DESTINATION share/${PROJECT_NAME})
--- a/collada_urdf/src/collada_urdf.cpp
+++ b/collada_urdf/src/collada_urdf.cpp
@ -52,7 +52,7 @@
 #include <resource_retriever/retriever.h>
 #include <urdf/model.h>
 #include <urdf_model/pose.h>
-#include <angles/angles.h>
+#include <geometry_angles_utils/angles.h>
 #include <ros/assert.h>

 #include <boost/date_time/posix_time/posix_time.hpp>
--- a/kdl_parser/CMakeLists.txt
+++ b/kdl_parser/CMakeLists.txt
@ -1,37 +1,37 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+project(kdl_parser)

-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
+catkin_project(${PROJECT_NAME} 
+  LIBRARIES ${PROJECT_NAME}
+  INCLUDE_DIRS include)

-rosbuild_init()
+include_directories(include)

-rosbuild_add_boost_directories()
+find_package(Boost REQUIRED)
+include_directories(${Boost_INCLUDE_DIR})

-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+find_library(tinyxml_library tinyxml)

-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
+find_package(ROS REQUIRED COMPONENTS roscpp rosconsole)
+include_directories(${ROS_INCLUDE_DIRS})

-link_libraries(tinyxml)
+find_package(Orocos-KDL REQUIRED)
+include_directories(${Orocos-KDL_INCLUDE_DIRS})
+link_directories(${Orocos-KDL_LIBRARY_DIRS})

-rosbuild_add_library(${PROJECT_NAME} src/kdl_parser.cpp)
+find_package(urdf)
+include_directories(${urdf_INCLUDE_DIRS})

-rosbuild_add_executable(check_kdl_parser src/check_kdl_parser.cpp )
+find_package(collada_parser)
+include_directories(${collada_parser_INCLUDE_DIRS})
+
+add_library(${PROJECT_NAME} src/kdl_parser.cpp)
+target_link_libraries(${PROJECT_NAME} ${tinyxml_library} ${Orocos-KDL_LIBRARIES} ${collada_parser_LIBRARIES} ${urdf_LIBRARIES} ${ROS_LIBRARIES})
+
+add_executable(check_kdl_parser src/check_kdl_parser.cpp )
 target_link_libraries(check_kdl_parser ${PROJECT_NAME})

-rosbuild_add_executable(test_parser test/test_kdl_parser.cpp )
-target_link_libraries(test_parser ${PROJECT_NAME})
+add_gtest(test_kdl_parser test/test_kdl_parser.cpp )
+target_link_libraries(test_kdl_parser ${PROJECT_NAME})

-rosbuild_add_gtest_build_flags(test_parser)
-rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_kdl_parser.launch)
+# How does CATKIN do this?
+#rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_kdl_parser.launch)
--- a/resource_retriever/CMakeLists.txt
+++ b/resource_retriever/CMakeLists.txt
@ -1,35 +1,27 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+project(resource_retriever)

-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
+catkin_project(${PROJECT_NAME} 
+  LIBRARIES ${PROJECT_NAME}
+  INCLUDE_DIRS include)

-rosbuild_init()
+include_directories(include)

-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
+find_package(ROS REQUIRED COMPONENTS rosconsole roslib)
+include_directories(${ROS_INCLUDE_DIRS})

 include(FindCURL)
-
 if(NOT CURL_FOUND)
  message("CURL not found!  Aborting...")
  fail()
 endif(NOT CURL_FOUND)
-
 include_directories(${CURL_INCLUDE_DIRS})
-rosbuild_add_library(${PROJECT_NAME} src/retriever.cpp)
-target_link_libraries(${PROJECT_NAME} ${CURL_LIBRARIES})
+
+
+add_library(${PROJECT_NAME} src/retriever.cpp)
+target_link_libraries(${PROJECT_NAME} ${CURL_LIBRARIES} ${ROS_LIBRARIES})

 add_subdirectory(test EXCLUDE_FROM_ALL)
+
+# for compatibility with old build system
+install(FILES manifest.xml
+        DESTINATION share/${PROJECT_NAME})
--- a/resource_retriever/test/CMakeLists.txt
+++ b/resource_retriever/test/CMakeLists.txt
@ -1,4 +1,4 @@
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR})

-rosbuild_add_gtest(test/utest test.cpp)
+add_gtest(test/utest test.cpp)
 target_link_libraries(test/utest ${PROJECT_NAME})
--- a/srdf/CMakeLists.txt
+++ b/srdf/CMakeLists.txt
@ -0,0 +1,6 @@
+# for compatibility with old build system
+install(FILES manifest.xml
+        DESTINATION share/srdf)
+
+install(DIRECTORY include/
+        DESTINATION include)
--- a/stack.xml
+++ b/stack.xml
@ -1,4 +1,6 @@
 <stack>
+  <name>robot_model</name>
+  <version>1.9.0</version>
  <description brief="Modeling robot information">
    <tt>robot_model</tt> contains packages for modeling various
    aspects of robot information, specified in the Xml Robot
@ -6,14 +8,38 @@
    is <a href="http://ros.org/wiki/urdf">urdf</a>, which parses URDF files, and constructs an
    object model (C++) of the robot.
  </description>
-  <author>Wim Meeussen, John Hsu, David Lu, Rosen Diankov, Tim Field</author>
+  <author email="wim@willowgarage.com">Wim Meeussen</author>
+  <author email="hsu@osrfoundation.com">John Hsu</author>
+  <author email="davidlu@wustl.edu">David Lu</author>
+  <author email="isucan@willowgarage.com">Ioan Sucan</author>
+  <author email="rosen.diankov@gmail.com">Rosen Diankov</author>
+  <author email="tim.field@willowgarage.com">Tim Field</author>
+
+  <maintainer email="tfoote@willowgarage.com">Tully Foote</maintainer>
  <license>BSD,GPL,MIT</license>  
-  <review status="Doc reviewed" notes="2009-10-02"/>
+
+  <copyright>Willow Garage</copyright>
+
+  <review status="doc reviewed" notes="2009-10-02"/>
  <url>http://ros.org/wiki/robot_model</url>
-  <depend stack="common_msgs" /> <!-- sensor_msgs -->
-  <depend stack="geometry" /> <!-- tf, angles, tf_conversions -->
-  <depend stack="orocos_kinematics_dynamics" /> <!-- kdl -->
-  <depend stack="ros" /> <!-- roslib -->
-  <depend stack="ros_comm" /> <!-- rosconsole, rospy, roscpp -->
+
+  <build_depends>catkin</build_depends>
+  <build_depends>common_msgs</build_depends>
+  <build_depends>orocos_kdl</build_depends> 
+  <build_depends>ros</build_depends>
+  <build_depends>ros_comm</build_depends> 
+  <build_depends>geometry_angles_utils</build_depends> 
+  <build_depends>rosconsole_bridge</build_depends>
+  <build_depends>graphviz</build_depends>
+  <build_depends>geometry</build_depends>
+
+  <depends>common_msgs</depends>
+  <depends>orocos_kdl</depends> 
+  <depends>ros</depends>
+  <depends>ros_comm</depends> 
+  <depends>geometry_angles_utils</depends> 
+  <depends>rosconsole_bridge</depends>
+  <depends>graphviz</depends>
+  <depends>geometry</depends>

 </stack>
--- a/urdf/CMakeLists.txt
+++ b/urdf/CMakeLists.txt
@ -1,47 +1,45 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+project(urdf)

-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-set(ROS_BUILD_TYPE Debug)
+catkin_project(${PROJECT_NAME} 
+  LIBRARIES ${PROJECT_NAME}
+  INCLUDE_DIRS include)

-rosbuild_init()
-
-#set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-#uncomment if you have defined messages
-#rosbuild_genmsg()
-
-rosbuild_gensrv()
+include_directories(include)

 find_package(urdfdom REQUIRED)
 include_directories(${urdfdom_INCLUDE_DIRS})
+link_directories(${urdfdom_LIBRARY_DIRS})
+
+find_package(collada_parser REQUIRED)
+include_directories(${collada_parser_INCLUDE_DIRS})
+link_directories(${collada_parser_LIBRARY_DIRS})

 find_package(rosconsole_bridge REQUIRED)
 include_directories(${rosconsole_bridge_INCLUDE_DIRS})
+link_directories(${rosconsole_bridge_LIBRARY_DIRS})

-rosbuild_add_library(${PROJECT_NAME} src/model.cpp src/rosconsole_bridge.cpp)
-target_link_libraries(${PROJECT_NAME} ${urdfdom_LIBRARIES} ${rosconsole_bridge_LIBRARIES})
+find_package(ROS REQUIRED COMPONENTS roscpp rosconsole rostime)
+include_directories(${ROS_INCLUDE_DIRS})
+
+add_library(${PROJECT_NAME} src/model.cpp src/rosconsole_bridge.cpp)
+target_link_libraries(${PROJECT_NAME} ${urdfdom_LIBRARIES} ${collada_parser_LIBRARIES} ${rosconsole_bridge_LIBRARIES} ${ROS_LIBRARIES})

 if(APPLE) 
  set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") 
 endif(APPLE)

-rosbuild_add_executable(check_urdf src/check_urdf.cpp)
+add_executable(check_urdf src/check_urdf.cpp)
 target_link_libraries(check_urdf ${PROJECT_NAME})

-rosbuild_add_executable(urdf_to_graphiz src/urdf_to_graphiz.cpp)
+add_executable(urdf_to_graphiz src/urdf_to_graphiz.cpp)
 target_link_libraries(urdf_to_graphiz ${PROJECT_NAME})

-rosbuild_add_executable(test_parser EXCLUDE_FROM_ALL test/test_robot_model_parser.cpp)
+add_gtest(test_parser EXCLUDE_FROM_ALL test/test_robot_model_parser.cpp)
 target_link_libraries(test_parser ${PROJECT_NAME})
-rosbuild_add_gtest_build_flags(test_parser)
-rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_robot_model_parser.launch)

+# no idea how CATKIN does this
+# rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_robot_model_parser.launch)
+
+# for compatibility with old build system
+install(FILES manifest.xml
+        DESTINATION share/${PROJECT_NAME})
--- a/urdf_interface/CMakeLists.txt
+++ b/urdf_interface/CMakeLists.txt
@ -0,0 +1,6 @@
+# for compatibility with old build system
+install(FILES manifest.xml
+        DESTINATION share/urdf_interface)
+
+install(DIRECTORY include/
+        DESTINATION include)
--- a/urdf_parser/CMakeLists.txt
+++ b/urdf_parser/CMakeLists.txt
@ -0,0 +1,3 @@
+# for compatibility with old build system
+install(FILES manifest.xml
+        DESTINATION share/urdf_parser)