50 lines
1.5 KiB
CMake
50 lines
1.5 KiB
CMake
cmake_minimum_required(VERSION 2.8.3)
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project(kdl_parser)
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find_package(Boost REQUIRED)
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include_directories(${Boost_INCLUDE_DIR})
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find_package(catkin REQUIRED
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COMPONENTS roscpp rosconsole urdf cmake_modules
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)
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find_package(orocos_kdl REQUIRED)
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find_package(TinyXML REQUIRED)
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include_directories(include ${orocos_kdl_INCLUDE_DIRS} ${TinyXML_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
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link_directories(${catkin_LIBRARY_DIRS})
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link_directories(${orocos_kdl_LIBRARY_DIRS})
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link_directories(${Boost_LIBRARY_DIRS})
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find_library(KDL_LIBRARY REQUIRED NAMES orocos-kdl HINTS ${orocos_kdl_LIBRARY_DIRS})
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catkin_package(
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LIBRARIES ${PROJECT_NAME} ${KDL_LIBRARY}
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INCLUDE_DIRS include
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CATKIN_DEPENDS roscpp rosconsole urdf
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DEPENDS orocos_kdl TinyXML
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)
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add_library(${PROJECT_NAME} src/kdl_parser.cpp)
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target_link_libraries(${PROJECT_NAME}
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${TinyXML_LIBRARIES} ${orocos_kdl_LIBRARIES} ${catkin_LIBRARIES}
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)
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add_executable(check_kdl_parser src/check_kdl_parser.cpp )
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target_link_libraries(check_kdl_parser ${PROJECT_NAME})
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if(CATKIN_ENABLE_TESTING)
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find_package(catkin REQUIRED COMPONENTS rostest)
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add_rostest_gtest(test_kdl_parser test/test_kdl_parser.launch test/test_kdl_parser.cpp )
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target_link_libraries(test_kdl_parser ${PROJECT_NAME})
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endif()
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# How does CATKIN do this?
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#rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_kdl_parser.launch)
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install(TARGETS ${PROJECT_NAME}
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DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
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