hlrc / server / CMakeLists.txt @ 071079cd
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cmake_minimum_required(VERSION 2.8.3) |
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project(hlrc_server) |
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set(ENV{ROS_LANG_DISABLE} "genjava") |
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## System dependencies are found with CMake's conventions |
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# find_package(Boost REQUIRED COMPONENTS system) |
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INCLUDE(FindPkgConfig) |
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find_package(Boost REQUIRED COMPONENTS system thread) |
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####################################### |
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#allow forced disable of RSB |
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option(IGNORE_RSB "IGNORE_RSB" OFF) |
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####################################### |
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# check if we have RSB support: |
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IF (IGNORE_RSB) |
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MESSAGE(INFO "RSB disabled per command line flag IGNORE_RSB") |
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ELSE (IGNORE_RSB) |
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FIND_PACKAGE(RSB 0.11) |
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IF (RSB_FOUND) |
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#RSB |
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SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/") |
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FIND_PACKAGE(RSC 0.11 REQUIRED) |
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FIND_PACKAGE(RSB 0.11 REQUIRED) |
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#RST |
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FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox) |
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INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS}) |
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ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS}) |
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INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS}) |
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LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH}) |
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#RSB |
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SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/") |
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FIND_PACKAGE(RSC 0.11 REQUIRED) |
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FIND_PACKAGE(RSB 0.11 REQUIRED) |
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#RST |
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FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox) |
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INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS}) |
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ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS}) |
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INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS}) |
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LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH}) |
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message(STATUS "RSB Support is ON") |
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add_definitions(-DRSB_SUPPORT=1) |
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ENDIF (RSB_FOUND) |
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ENDIF(IGNORE_RSB) |
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################################################################ |
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# check for ROS support: |
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find_package(catkin) |
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IF (catkin_FOUND) |
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SET(ROS_FOUND 1) |
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find_package(catkin REQUIRED COMPONENTS roscpp std_msgs geometry_msgs sensor_msgs message_generation genmsg actionlib_msgs actionlib tf2_ros tf2_eigen angles) |
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find_package(PkgConfig REQUIRED) |
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pkg_search_module(EIGEN3 REQUIRED eigen3) |
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message(STATUS "ROS Support is ON") |
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add_definitions(-DROS_SUPPORT=1) |
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add_message_files( |
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FILES |
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phoneme.msg |
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soundchunk.msg |
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utterance.msg |
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) |
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add_service_files( |
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FILES |
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) |
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add_action_files( |
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DIRECTORY action |
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FILES |
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animation.action |
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speech.action |
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utterance.action |
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tts.action |
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emotionstate.action |
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gazetarget.action |
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lookattarget.action |
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mouthtarget.action |
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) |
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generate_messages( |
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DEPENDENCIES |
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actionlib_msgs |
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std_msgs |
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geometry_msgs |
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hlrc_server |
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) |
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catkin_package( |
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INCLUDE_DIRS include |
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LIBRARIES |
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CATKIN_DEPENDS actionlib_msgs |
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#CATKIN_DEPENDS message_runtime |
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#DEPENDS system_lib |
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) |
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ENDIF (catkin_FOUND) |
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add_definitions ("-Wall") |
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################################### |
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# humotion |
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INCLUDE(FindPkgConfig) |
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find_package(humotion 0.0.1) |
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IF (humotion_FOUND) |
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message("> using humotion includes from " ${humotion_INCLUDE_DIRS}) |
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ELSE (humotion_FOUND) |
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message(FATAL_ERROR "> error: can not find libhumotion") |
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endif (humotion_FOUND) |
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################################### |
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# libao audio |
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PKG_CHECK_MODULES(AO REQUIRED ao>=1.1.0) |
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IF (AO_FOUND) |
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SET(AO_LIBRARY_DIRS "${AO_PREFIX}/lib") |
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SET(AO_INCLUDE_DIRS "${AO_PREFIX}/include") |
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SET(AO_LIBRARIES "ao") |
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MESSAGE("using libao version ${AO_VERSION} from ${AO_PREFIX}") |
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ELSE (AO_FOUND) |
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message(FATAL_ERROR "Error: Cannot find libao") |
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ENDIF (AO_FOUND) |
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#build |
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include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${humotion_INCLUDE_DIRS} ${AO_INCLUDE_DIRS} ${humotion_INCLUDE_DIRS}) |
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link_directories(${catkin_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS} ${AO_LIBRARY_DIRS} ${humotion_LIBRARY_DIRS}) |
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#build dummy list of header files |
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file(GLOB DUMMY_HEADER_LIST RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} include/*.h include/RSB/*.h include/ROS/*.h) |
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# declare library |
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add_executable(${PROJECT_NAME} |
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src/main.cpp |
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src/MiddlewareRSB.cpp |
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src/MiddlewareROS.cpp |
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src/Arbiter.cpp |
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src/Utterance.cpp |
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src/Animation.cpp |
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src/AudioPlayer.cpp |
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src/AudioPlayerRSB.cpp |
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src/AudioPlayerLibAO.cpp |
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src/MouthConfig.cpp |
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src/EmotionState.cpp |
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src/EmotionConfig.cpp |
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src/Middleware.cpp |
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${MIDDLEWARE_SOURCES} |
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${DUMMY_HEADER_LIST} |
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) |
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") |
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#create example: |
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target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES} ${RSB_LIBRARIES} ${catkin_LIBRARIES} ${RST_LIBRARIES} ${humotion_LIBRARIES} ${AO_LIBRARIES}) |
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set_property(TARGET ${PROJECT_NAME} PROPERTY INSTALL_RPATH_USE_LINK_PATH TRUE) |
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IF (catkin_FOUND) |
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add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} hlrc_server_gencpp) |
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ENDIF (catkin_FOUND) |
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# install(TARGETS ${PROJECT_NAME} |
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} |
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} |
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# RUNTIME DESTINATION bin |
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# ) |
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install(TARGETS ${PROJECT_NAME} DESTINATION bin) |
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