60 lines
1.9 KiB
CMake
60 lines
1.9 KiB
CMake
project(urdf)
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catkin_project(${PROJECT_NAME}
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LIBRARIES ${PROJECT_NAME}
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INCLUDE_DIRS include
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DEPENDS urdfdom urdfdom_headers collada_parser roscpp)
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include_directories(include)
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find_package(urdfdom_headers REQUIRED)
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include_directories(${urdfdom_headers_INCLUDE_DIRS})
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find_package(urdfdom REQUIRED)
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include_directories(${urdfdom_INCLUDE_DIRS})
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link_directories(${urdfdom_LIBRARY_DIRS})
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find_package(collada_parser REQUIRED)
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include_directories(${collada_parser_INCLUDE_DIRS})
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link_directories(${collada_parser_LIBRARY_DIRS})
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find_package(rosconsole_bridge REQUIRED)
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include_directories(${rosconsole_bridge_INCLUDE_DIRS})
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link_directories(${rosconsole_bridge_LIBRARY_DIRS})
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find_package(catkin REQUIRED COMPONENTS roscpp rosconsole rostime)
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include_directories(${catkin_INCLUDE_DIRS})
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link_directories(${catkin_LIBRARY_DIRS})
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find_library(TINYXML tinyxml)
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add_library(${PROJECT_NAME} src/model.cpp src/rosconsole_bridge.cpp)
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target_link_libraries(${PROJECT_NAME} ${urdfdom_LIBRARIES} ${collada_parser_LIBRARIES} ${rosconsole_bridge_LIBRARIES} ${TINYXML} ${catkin_LIBRARIES})
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if(APPLE)
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set_target_properties(${PROJECT_NAME} PROPERTIES LINK_FLAGS "-undefined dynamic_lookup")
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endif(APPLE)
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add_executable(check_urdf src/check_urdf.cpp)
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target_link_libraries(check_urdf ${PROJECT_NAME})
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add_executable(urdf_to_graphiz src/urdf_to_graphiz.cpp)
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target_link_libraries(urdf_to_graphiz ${PROJECT_NAME})
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add_gtest(test_parser EXCLUDE_FROM_ALL test/test_robot_model_parser.cpp)
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target_link_libraries(test_parser ${PROJECT_NAME})
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# no idea how CATKIN does this
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# rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_robot_model_parser.launch)
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install(TARGETS ${PROJECT_NAME} check_urdf urdf_to_graphiz
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin)
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install(DIRECTORY include/
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DESTINATION include)
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# for compatibility with old build system
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install(FILES manifest.xml
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DESTINATION share/${PROJECT_NAME})
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