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kdl_parser
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Merge pull request #105 from k-okada/add_pcre_collada_urdf 

load libpcrecpp before collada-dom, fixes #89
This commit is contained in:
Ioan A Sucan 2015-04-20 13:35:30 -07:00
parent 15ac3e07ff 4ea3517910
commit 137268dc21
3 changed files with 14 additions and 3 deletions
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12
collada_urdf/CMakeLists.txt
View File

@ -44,6 +44,12 @@ endif()
find_package(Boost REQUIRED COMPONENTS system filesystem program_options) find_package(Boost REQUIRED COMPONENTS system filesystem program_options)
include_directories(${Boost_INCLUDE_DIR}) include_directories(${Boost_INCLUDE_DIR})
find_package(PkgConfig REQUIRED)
pkg_check_modules(PCRECPP libpcrecpp)
if( PCRECPP_FOUND )
include_directories(${PCRECPP_INCLUDE_DIRS})
link_directories(${PCRECPP_LIBRARY_DIRS})
endif()
find_package(COLLADA_DOM 2.3 COMPONENTS 1.5) find_package(COLLADA_DOM 2.3 COMPONENTS 1.5)
if( COLLADA_DOM_FOUND ) if( COLLADA_DOM_FOUND )
include_directories(${COLLADA_DOM_INCLUDE_DIRS}) include_directories(${COLLADA_DOM_INCLUDE_DIRS})
@ -54,17 +60,17 @@ include_directories(${TinyXML_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
link_directories(${catkin_LIBRARY_DIRS}) link_directories(${catkin_LIBRARY_DIRS})
add_library(${PROJECT_NAME} src/collada_urdf.cpp) add_library(${PROJECT_NAME} src/collada_urdf.cpp)
target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES} target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${PCRECPP_LIBRARIES} ${COLLADA_DOM_LIBRARIES}
${Boost_LIBRARIES} ${ASSIMP_LIBRARIES}) ${Boost_LIBRARIES} ${ASSIMP_LIBRARIES})
set_target_properties(${PROJECT_NAME} PROPERTIES COMPILER_FLAGS "${ASSIMP_CXX_FLAGS} ${ASSIMP_CFLAGS_OTHER}") set_target_properties(${PROJECT_NAME} PROPERTIES COMPILER_FLAGS "${ASSIMP_CXX_FLAGS} ${ASSIMP_CFLAGS_OTHER}")
set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "${ASSIMP_LINK_FLAGS}") set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "${ASSIMP_LINK_FLAGS}")
add_executable(urdf_to_collada src/urdf_to_collada.cpp) add_executable(urdf_to_collada src/urdf_to_collada.cpp)
target_link_libraries(urdf_to_collada ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES} target_link_libraries(urdf_to_collada ${catkin_LIBRARIES} ${PCRECPP_LIBRARIES} ${COLLADA_DOM_LIBRARIES}
${Boost_LIBRARIES} ${PROJECT_NAME}) ${Boost_LIBRARIES} ${PROJECT_NAME})
add_executable(collada_to_urdf src/collada_to_urdf.cpp) add_executable(collada_to_urdf src/collada_to_urdf.cpp)
target_link_libraries(collada_to_urdf ${ASSIMP_LIBRARIES} ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES} ${Boost_LIBRARIES}) target_link_libraries(collada_to_urdf ${ASSIMP_LIBRARIES} ${catkin_LIBRARIES} ${PCRECPP_LIBRARIES} ${COLLADA_DOM_LIBRARIES} ${Boost_LIBRARIES})
set_target_properties(collada_to_urdf PROPERTIES COMPILER_FLAGS "${ASSIMP_CXX_FLAGS} ${ASSIMP_CFLAGS_OTHER}") set_target_properties(collada_to_urdf PROPERTIES COMPILER_FLAGS "${ASSIMP_CXX_FLAGS} ${ASSIMP_CFLAGS_OTHER}")
set_target_properties(collada_to_urdf PROPERTIES LINK_FLAGS "${ASSIMP_LINK_FLAGS}") set_target_properties(collada_to_urdf PROPERTIES LINK_FLAGS "${ASSIMP_LINK_FLAGS}")

2
collada_urdf/package.xml
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@ -25,6 +25,7 @@
<build_depend>collada_parser</build_depend> <build_depend>collada_parser</build_depend>
<build_depend>liburdfdom-dev</build_depend> <build_depend>liburdfdom-dev</build_depend>
<build_depend>liburdfdom-headers-dev</build_depend> <build_depend>liburdfdom-headers-dev</build_depend>
<build_depend>pcrecpp</build_depend>
<build_depend>roscpp</build_depend> <build_depend>roscpp</build_depend>
<build_depend>urdf</build_depend> <build_depend>urdf</build_depend>
<build_depend>geometric_shapes</build_depend> <build_depend>geometric_shapes</build_depend>
@ -38,6 +39,7 @@
<run_depend>liburdfdom-dev</run_depend> <run_depend>liburdfdom-dev</run_depend>
<run_depend>liburdfdom-headers-dev</run_depend> <run_depend>liburdfdom-headers-dev</run_depend>
<run_depend>resource_retriever</run_depend> <run_depend>resource_retriever</run_depend>
<run_depend>pcrecpp</run_depend>
<run_depend>roscpp</run_depend> <run_depend>roscpp</run_depend>
<run_depend>urdf</run_depend> <run_depend>urdf</run_depend>
<run_depend>tf</run_depend> <run_depend>tf</run_depend>

3
collada_urdf/src/urdf_to_collada.cpp
View File

@ -37,6 +37,9 @@
#include "collada_urdf/collada_urdf.h" #include "collada_urdf/collada_urdf.h"
#include <ros/ros.h> #include <ros/ros.h>
#include <pcrecpp.h>
pcrecpp::RE __re__(""); // https://github.com/ros/robot_model/issues/89
int main(int argc, char** argv) int main(int argc, char** argv)
{ {
if (argc != 3) { if (argc != 3) {