77 lines
2.4 KiB
CMake
77 lines
2.4 KiB
CMake
project(collada_urdf)
|
|
|
|
catkin_project(${PROJECT_NAME}
|
|
LIBRARIES ${PROJECT_NAME}
|
|
INCLUDE_DIRS include
|
|
DEPENDS collada_parser urdf)
|
|
|
|
include_directories(include)
|
|
|
|
find_package(Boost REQUIRED COMPONENTS system)
|
|
include_directories(${Boost_INCLUDE_DIR})
|
|
|
|
find_package(assimp QUIET)
|
|
if( NOT assimp_FOUND )
|
|
find_package(PkgConfig REQUIRED)
|
|
pkg_check_modules(ASSIMP assimp)
|
|
endif()
|
|
if( ASSIMP_FOUND )
|
|
if( ${ASSIMP_VERSION} STRGREATER "2.0.0" )
|
|
set(IS_ASSIMP3 1)
|
|
add_definitions(-DIS_ASSIMP3)
|
|
endif()
|
|
include_directories(${ASSIMP_INCLUDE_DIRS})
|
|
link_directories(${ASSIMP_LIBRARY_DIRS})
|
|
else()
|
|
message(STATUS "could not find assimp (perhaps available thorugh ROS package?), so assimping assimp v2")
|
|
set(ASSIMP_LIBRARIES assimp)
|
|
set(ASSIMP_LIBRARY_DIRS)
|
|
set(ASSIMP_CXX_FLAGS)
|
|
set(ASSIMP_CFLAGS_OTHER)
|
|
set(ASSIMP_LINK_FLAGS)
|
|
set(ASSIMP_INCLUDE_DIRS)
|
|
set(IS_ASSIMP3 0) # most likely not
|
|
endif()
|
|
|
|
find_library(tinyxml_library tinyxml)
|
|
|
|
find_package(COLLADA_DOM 2.3 COMPONENTS 1.5)
|
|
if( COLLADA_DOM_FOUND )
|
|
include_directories(${COLLADA_DOM_INCLUDE_DIRS})
|
|
link_directories(${COLLADA_DOM_LIBRARY_DIRS})
|
|
endif()
|
|
|
|
find_package(urdf)
|
|
include_directories(${urdf_INCLUDE_DIRS})
|
|
link_directories(${urdf_LIBRARY_DIRS})
|
|
|
|
find_package(resource_retriever)
|
|
include_directories(${resource_retriever_INCLUDE_DIRS})
|
|
link_directories(${resource_retriever_LIBRARY_DIRS})
|
|
|
|
find_package(geometry_angles_utils)
|
|
include_directories(${geometry_angles_utils_INCLUDE_DIRS})
|
|
|
|
add_library(${PROJECT_NAME} src/collada_urdf.cpp)
|
|
target_link_libraries(${PROJECT_NAME} ${tinyxml_library} ${ASSIMP_LIBRARIES} ${collada_parser_LIBRARIES} ${COLLADA_DOM_LIBRARIES} ${urdf_LIBRARIES}
|
|
${resource_retriever_LIBRARIES} ${geometry_angles_utils_LIBRARIES} ${Boost_LIBRARIES})
|
|
set_target_properties(${PROJECT_NAME} PROPERTIES COMPILER_FLAGS "${ASSIMP_CXX_FLAGS} ${ASSIMP_CFLAGS_OTHER}")
|
|
set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "${ASSIMP_LINK_FLAGS}")
|
|
|
|
add_executable(urdf_to_collada src/urdf_to_collada.cpp)
|
|
target_link_libraries(urdf_to_collada ${PROJECT_NAME})
|
|
|
|
add_gtest(test_collada_writer test/test_collada_urdf.cpp)
|
|
target_link_libraries(test_collada_writer ${PROJECT_NAME})
|
|
|
|
install(TARGETS ${PROJECT_NAME} urdf_to_collada
|
|
LIBRARY DESTINATION lib
|
|
RUNTIME DESTINATION bin)
|
|
|
|
install(DIRECTORY include/
|
|
DESTINATION include)
|
|
|
|
# for compatibility with old build system
|
|
install(FILES manifest.xml
|
|
DESTINATION share/${PROJECT_NAME})
|