51 lines
1.6 KiB
CMake
51 lines
1.6 KiB
CMake
cmake_minimum_required(VERSION 2.8.3)
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project(urdf)
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find_package(Boost REQUIRED thread)
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find_package(urdfdom REQUIRED)
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find_package(catkin REQUIRED COMPONENTS
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urdfdom_headers urdf_parser_plugin pluginlib rosconsole_bridge roscpp 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 ${TinyXML_INCLUDE_DIRS}
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CATKIN_DEPENDS rosconsole_bridge roscpp
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DEPENDS urdfdom_headers urdfdom Boost
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)
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include_directories(SYSTEM ${Boost_INCLUDE_DIR})
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link_directories(${Boost_LIBRARY_DIRS})
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${urdfdom_INCLUDE_DIRS}
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${TinyXML_INCLUDE_DIRS}
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)
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link_directories(${catkin_LIBRARY_DIRS})
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add_library(${PROJECT_NAME} src/model.cpp src/rosconsole_bridge.cpp)
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target_link_libraries(${PROJECT_NAME} ${TinyXML_LIBRARIES} ${catkin_LIBRARIES} ${urdfdom_LIBRARIES})
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if(APPLE)
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set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
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endif(APPLE)
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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_urdf_parser test/test_robot_model_parser.launch test/test_robot_model_parser.cpp)
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target_link_libraries(test_urdf_parser ${PROJECT_NAME})
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endif()
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# no idea how CATKIN does this
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# rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_robot_model_parser.launch)
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install(TARGETS ${PROJECT_NAME}
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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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