hlrc / server / CMakeLists.txt @ 6594db08
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1 | 0c286af0 | Simon Schulz | cmake_minimum_required(VERSION 2.8.3) |
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2 | project(hlrc_server) |
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3 | |||
4 | 7c5d8279 | Simon Schulz | set(ENV{ROS_LANG_DISABLE} "genjava") |
5 | |||
6 | 0c286af0 | Simon Schulz | ## System dependencies are found with CMake's conventions |
7 | # find_package(Boost REQUIRED COMPONENTS system) |
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8 | |||
9 | INCLUDE(FindPkgConfig) |
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10 | |||
11 | find_package(Boost REQUIRED COMPONENTS system thread) |
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12 | |||
13 | ####################################### |
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14 | aa1958c6 | Simon Schulz | #allow forced disable of RSB |
15 | option(IGNORE_RSB "IGNORE_RSB" OFF) |
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16 | 9aa2bb7c | semeyerz | |
17 | aa1958c6 | Simon Schulz | ####################################### |
18 | # check if we have RSB support: |
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19 | IF (IGNORE_RSB) |
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20 | MESSAGE(INFO "RSB disabled per command line flag IGNORE_RSB") |
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21 | ELSE (IGNORE_RSB) |
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22 | 0c286af0 | Simon Schulz | FIND_PACKAGE(RSB 0.11) |
23 | IF (RSB_FOUND) |
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24 | #RSB |
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25 | SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/") |
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26 | FIND_PACKAGE(RSC 0.11 REQUIRED) |
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27 | FIND_PACKAGE(RSB 0.11 REQUIRED) |
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28 | #RST |
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29 | FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox) |
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30 | INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS}) |
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31 | ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS}) |
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32 | |||
33 | INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS}) |
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34 | LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH}) |
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35 | #RSB |
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36 | SET(CMAKE_INSTALL_RPATH "\$ORIGIN/../lib:\$ORIGIN/") |
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37 | FIND_PACKAGE(RSC 0.11 REQUIRED) |
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38 | FIND_PACKAGE(RSB 0.11 REQUIRED) |
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39 | #RST |
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40 | FIND_PACKAGE(RST REQUIRED COMPONENTS sandbox) |
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41 | INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RST_INCLUDE_DIRS}) |
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42 | ADD_DEFINITIONS(${RST_CFLAGS} ${RSTSANDBOX_CFLAGS}) |
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43 | |||
44 | INCLUDE_DIRECTORIES(BEFORE SYSTEM ${RSB_INCLUDE_DIRS}) |
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45 | LIST(INSERT CMAKE_MODULE_PATH 0 ${RSC_CMAKE_MODULE_PATH}) |
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46 | |||
47 | message(STATUS "RSB Support is ON") |
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48 | add_definitions(-DRSB_SUPPORT=1) |
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49 | ENDIF (RSB_FOUND) |
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50 | aa1958c6 | Simon Schulz | ENDIF(IGNORE_RSB) |
51 | 0c286af0 | Simon Schulz | |
52 | ################################################################ |
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53 | # check for ROS support: |
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54 | find_package(catkin) |
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55 | IF (catkin_FOUND) |
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56 | SET(ROS_FOUND 1) |
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57 | |||
58 | 2cf3c285 | Robert Haschke | find_package(catkin REQUIRED COMPONENTS roscpp std_msgs geometry_msgs sensor_msgs message_generation genmsg actionlib_msgs actionlib tf2_ros tf2_eigen angles) |
59 | find_package(PkgConfig REQUIRED) |
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60 | pkg_search_module(EIGEN3 REQUIRED eigen3) |
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61 | 0c286af0 | Simon Schulz | |
62 | message(STATUS "ROS Support is ON") |
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63 | add_definitions(-DROS_SUPPORT=1) |
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64 | |||
65 | add_message_files( |
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66 | FILES |
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67 | phoneme.msg |
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68 | soundchunk.msg |
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69 | b47687f8 | Robert Haschke | utterance.msg |
70 | 0c286af0 | Simon Schulz | ) |
71 | |||
72 | add_service_files( |
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73 | FILES |
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74 | ) |
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75 | |||
76 | add_action_files( |
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77 | DIRECTORY action |
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78 | FILES |
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79 | animation.action |
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80 | speech.action |
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81 | utterance.action |
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82 | b47687f8 | Robert Haschke | tts.action |
83 | 0c286af0 | Simon Schulz | emotionstate.action |
84 | gazetarget.action |
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85 | b47687f8 | Robert Haschke | lookattarget.action |
86 | 0c286af0 | Simon Schulz | mouthtarget.action |
87 | ) |
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88 | |||
89 | generate_messages( |
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90 | DEPENDENCIES |
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91 | actionlib_msgs |
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92 | std_msgs |
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93 | b47687f8 | Robert Haschke | geometry_msgs |
94 | 0c286af0 | Simon Schulz | hlrc_server |
95 | ) |
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96 | |||
97 | catkin_package( |
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98 | INCLUDE_DIRS include |
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99 | f0dcf4ca | Robert Haschke | LIBRARIES |
100 | 0c286af0 | Simon Schulz | CATKIN_DEPENDS actionlib_msgs |
101 | #CATKIN_DEPENDS message_runtime |
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102 | #DEPENDS system_lib |
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103 | ) |
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104 | ENDIF (catkin_FOUND) |
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105 | |||
106 | add_definitions ("-Wall") |
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107 | |||
108 | ################################### |
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109 | # humotion |
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110 | INCLUDE(FindPkgConfig) |
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111 | find_package(humotion 0.0.1) |
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112 | IF (humotion_FOUND) |
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113 | message("> using humotion includes from " ${humotion_INCLUDE_DIRS}) |
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114 | ELSE (humotion_FOUND) |
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115 | message(FATAL_ERROR "> error: can not find libhumotion") |
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116 | endif (humotion_FOUND) |
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117 | |||
118 | ################################### |
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119 | # libao audio |
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120 | PKG_CHECK_MODULES(AO REQUIRED ao>=1.1.0) |
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121 | IF (AO_FOUND) |
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122 | SET(AO_LIBRARY_DIRS "${AO_PREFIX}/lib") |
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123 | SET(AO_INCLUDE_DIRS "${AO_PREFIX}/include") |
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124 | SET(AO_LIBRARIES "ao") |
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125 | MESSAGE("using libao version ${AO_VERSION} from ${AO_PREFIX}") |
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126 | ELSE (AO_FOUND) |
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127 | message(FATAL_ERROR "Error: Cannot find libao") |
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128 | ENDIF (AO_FOUND) |
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129 | |||
130 | #build |
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131 | 2cf3c285 | Robert Haschke | include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${humotion_INCLUDE_DIRS} ${AO_INCLUDE_DIRS} ${humotion_INCLUDE_DIRS}) |
132 | 9af6ff03 | Simon Schulz | link_directories(${catkin_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS} ${AO_LIBRARY_DIRS} ${humotion_LIBRARY_DIRS}) |
133 | 0c286af0 | Simon Schulz | |
134 | #build dummy list of header files |
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135 | file(GLOB DUMMY_HEADER_LIST RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} include/*.h include/RSB/*.h include/ROS/*.h) |
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136 | |||
137 | # declare library |
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138 | add_executable(${PROJECT_NAME} |
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139 | src/main.cpp |
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140 | src/MiddlewareRSB.cpp |
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141 | src/MiddlewareROS.cpp |
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142 | src/Arbiter.cpp |
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143 | src/Utterance.cpp |
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144 | src/Animation.cpp |
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145 | src/AudioPlayer.cpp |
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146 | src/AudioPlayerRSB.cpp |
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147 | src/AudioPlayerLibAO.cpp |
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148 | src/MouthConfig.cpp |
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149 | src/EmotionState.cpp |
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150 | src/EmotionConfig.cpp |
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151 | src/Middleware.cpp |
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152 | ${MIDDLEWARE_SOURCES} |
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153 | ${DUMMY_HEADER_LIST} |
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154 | ) |
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155 | |||
156 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x") |
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157 | |||
158 | #create example: |
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159 | target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES} ${RSB_LIBRARIES} ${catkin_LIBRARIES} ${RST_LIBRARIES} ${humotion_LIBRARIES} ${AO_LIBRARIES}) |
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160 | 5303d8b4 | Simon Schulz | set_property(TARGET ${PROJECT_NAME} PROPERTY INSTALL_RPATH_USE_LINK_PATH TRUE) |
161 | |||
162 | 0c286af0 | Simon Schulz | |
163 | IF (catkin_FOUND) |
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164 | add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} hlrc_server_gencpp) |
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165 | ENDIF (catkin_FOUND) |
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166 | |||
167 | # install(TARGETS ${PROJECT_NAME} |
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168 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} |
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169 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} |
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170 | # RUNTIME DESTINATION bin |
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171 | # ) |
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172 | |||
173 | install(TARGETS ${PROJECT_NAME} DESTINATION bin) |
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174 |