73 lines
2.4 KiB
CMake
73 lines
2.4 KiB
CMake
cmake_minimum_required(VERSION 2.8.3)
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project(collada_urdf)
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find_package(catkin REQUIRED COMPONENTS angles collada_parser resource_retriever urdf geometric_shapes cmake_modules)
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find_package(TinyXML REQUIRED)
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catkin_package(
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LIBRARIES ${PROJECT_NAME}
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INCLUDE_DIRS include
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DEPENDS angles collada_parser resource_retriever urdf)
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include_directories(include)
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find_package(Boost REQUIRED COMPONENTS system)
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include_directories(${Boost_INCLUDE_DIR})
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find_package(assimp QUIET)
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if ( NOT ASSIMP_FOUND )
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find_package(Assimp QUIET)
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if ( NOT ASSIMP_FOUND )
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find_package(PkgConfig REQUIRED)
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pkg_check_modules(ASSIMP assimp)
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endif()
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endif()
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if( ASSIMP_FOUND )
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if( ${ASSIMP_VERSION} STRGREATER "2.0.0" )
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set(IS_ASSIMP3 1)
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add_definitions(-DIS_ASSIMP3)
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endif()
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include_directories(${ASSIMP_INCLUDE_DIRS})
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link_directories(${ASSIMP_LIBRARY_DIRS})
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else()
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message(STATUS "could not find assimp (perhaps available thorugh ROS package?), so assuming assimp v2")
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set(ASSIMP_LIBRARIES assimp)
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set(ASSIMP_LIBRARY_DIRS)
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set(ASSIMP_CXX_FLAGS)
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set(ASSIMP_CFLAGS_OTHER)
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set(ASSIMP_LINK_FLAGS)
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set(ASSIMP_INCLUDE_DIRS)
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set(IS_ASSIMP3 0) # most likely not
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endif()
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find_package(COLLADA_DOM 2.3 COMPONENTS 1.5)
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if( COLLADA_DOM_FOUND )
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include_directories(${COLLADA_DOM_INCLUDE_DIRS})
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link_directories(${COLLADA_DOM_LIBRARY_DIRS})
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endif()
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include_directories(${TinyXML_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
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link_directories(${catkin_LIBRARY_DIRS})
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add_library(${PROJECT_NAME} src/collada_urdf.cpp)
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target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES}
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${Boost_LIBRARIES} ${ASSIMP_LIBRARIES})
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set_target_properties(${PROJECT_NAME} PROPERTIES COMPILER_FLAGS "${ASSIMP_CXX_FLAGS} ${ASSIMP_CFLAGS_OTHER}")
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set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "${ASSIMP_LINK_FLAGS}")
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add_executable(urdf_to_collada src/urdf_to_collada.cpp)
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target_link_libraries(urdf_to_collada ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES}
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${Boost_LIBRARIES} ${PROJECT_NAME})
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catkin_add_gtest(test_collada_writer test/test_collada_urdf.cpp)
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target_link_libraries(test_collada_writer ${PROJECT_NAME} ${catkin_LIBRARIES} ${COLLADA_DOM_LIBRARIES}
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${Boost_LIBRARIES})
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install(TARGETS ${PROJECT_NAME} urdf_to_collada
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
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