cmake_minimum_required(VERSION 2.8.3) project(urdf) find_package(Boost REQUIRED thread) find_package(catkin REQUIRED COMPONENTS urdfdom urdfdom_headers urdf_parser_plugin pluginlib rosconsole_bridge roscpp) catkin_package( LIBRARIES ${PROJECT_NAME} INCLUDE_DIRS include CATKIN_DEPENDS rosconsole_bridge roscpp DEPENDS urdfdom_headers urdfdom Boost ) include_directories(SYSTEM ${Boost_INCLUDE_DIR}) link_directories(${Boost_LIBRARY_DIRS}) include_directories(include) include_directories(${catkin_INCLUDE_DIRS}) link_directories(${catkin_LIBRARY_DIRS}) find_library(TINYXML tinyxml) add_library(${PROJECT_NAME} src/model.cpp src/rosconsole_bridge.cpp) target_link_libraries(${PROJECT_NAME} ${TINYXML} ${catkin_LIBRARIES}) if(APPLE) set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup") endif(APPLE) catkin_add_gtest(test_parser EXCLUDE_FROM_ALL test/test_robot_model_parser.cpp) target_link_libraries(test_parser ${PROJECT_NAME}) # no idea how CATKIN does this # rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_robot_model_parser.launch) install(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})