Revision 414a3516 CMakeLists.txt
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set(ENV{ROS_LANG_DISABLE} "genjava")
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set(ROS_BUILD_TYPE Debug) |
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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 ${RSC_CMAKE_MODULE_PATH})
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message(STATUS "RSB Support is ON") |
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add_definitions(-DRSB_SUPPORT=1) |
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ENDIF (RSB_FOUND) |
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ENDIF(IGNORE_RSB) |
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################################################################ |
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# check for ROS support: |
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find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs message_generation genmsg) |
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IF (catkin_FOUND) |
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set(ROS_FOUND 1) |
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message(STATUS "ROS Support is ON") |
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add_definitions(-DROS_SUPPORT=1) |
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IF (NOT catkin_FOUND) |
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MESSAGE(FATAL_ERROR "Error: could not find ROS middleware!") |
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ENDIF (catkin_FOUND) |
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INCLUDE(FindPkgConfig) |
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##libreflexxes |
| ... | ... | |
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ENDIF () |
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ENDIF () |
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IF (NOT catkin_FOUND AND NOT RSB_FOUND) |
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message(FATAL_ERROR "Error: could neither find RSB or ROS middleware!") |
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ENDIF () |
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SET(REFLEXXES_LIBRARY_DIRS "${REFLEXXES_PREFIX}/lib")
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SET(REFLEXXES_INCLUDE_DIRS "${REFLEXXES_PREFIX}/include")
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| ... | ... | |
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find_library(REFLEXXES_LIBRARY NAMES ${REFLEXXES_LIBRARIES} HINTS ${REFLEXXES_LIBRARY_DIRS})
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MESSAGE("-- using libReflexxesTypeII version ${REFLEXXES_VERSION} from ${REFLEXXES_INCLUDE_DIRS} and ${REFLEXXES_LIBRARY_DIRS}")
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MESSAGE("-- will ink against ${REFLEXXES_LIBRARY}")
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MESSAGE("-- will link against ${REFLEXXES_LIBRARY}")
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set(CMAKE_CXX_FLAGS "-g -Wall") |
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add_definitions ("-Wall")
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####################################### |
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## Declare ROS messages and services ## |
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####################################### |
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IF (catkin_FOUND) |
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####################################### |
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## Declare ROS messages and services ## |
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####################################### |
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add_message_files( |
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FILES |
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gaze.msg |
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position_lcr.msg |
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mouth.msg |
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) |
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## Generate added messages and services with any dependencies listed here |
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generate_messages( |
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DEPENDENCIES |
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std_msgs |
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humotion |
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) |
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# |
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################################### |
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## catkin specific configuration ## |
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################################### |
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## The catkin_package macro generates cmake config files for your package |
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## Declare things to be passed to dependent projects |
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## INCLUDE_DIRS: uncomment this if you package contains header files |
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## LIBRARIES: libraries you create in this project that dependent projects also need |
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## CATKIN_DEPENDS: catkin_packages dependent projects also need |
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## DEPENDS: system dependencies of this project that dependent projects also need |
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catkin_package( |
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INCLUDE_DIRS include |
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LIBRARIES humotion |
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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_message_files( |
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FILES |
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gaze.msg |
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position_lcr.msg |
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mouth.msg |
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) |
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## Generate added messages and services with any dependencies listed here |
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generate_messages( |
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DEPENDENCIES |
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std_msgs |
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humotion |
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) |
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# |
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################################### |
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## catkin specific configuration ## |
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################################### |
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## The catkin_package macro generates cmake config files for your package |
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## Declare things to be passed to dependent projects |
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## INCLUDE_DIRS: uncomment this if you package contains header files |
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## LIBRARIES: libraries you create in this project that dependent projects also need |
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## CATKIN_DEPENDS: catkin_packages dependent projects also need |
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## DEPENDS: system dependencies of this project that dependent projects also need |
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catkin_package( |
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INCLUDE_DIRS include |
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LIBRARIES humotion |
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#CATKIN_DEPENDS message_runtime |
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#DEPENDS system_lib |
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) |
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########### |
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## Build ## |
| ... | ... | |
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src/client/client.cpp |
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src/client/middleware.cpp |
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src/client/middleware_ros.cpp |
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src/client/middleware_rsb.cpp |
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src/server/server.cpp |
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src/server/middleware.cpp |
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src/server/middleware_ros.cpp |
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src/server/middleware_rsb.cpp |
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src/server/controller.cpp |
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src/server/joint_interface.cpp |
| ... | ... | |
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
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## Add cmake target dependencies of the executable/library |
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## as an example, message headers may need to be generated before nodes |
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add_dependencies(humotion ${catkin_EXPORTED_TARGETS} humotion_gencpp)
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## Specify libraries to link a library or executable target against |
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target_link_libraries(humotion |
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${Boost_LIBRARIES}
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${catkin_LIBRARIES}
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${REFLEXXES_LIBRARY}
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${RST_LIBRARIES}
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${RSB_LIBRARIES}
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${Boost_LIBRARIES}
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${catkin_LIBRARIES}
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${REFLEXXES_LIBRARY}
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) |
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set_property(TARGET humotion PROPERTY INSTALL_RPATH_USE_LINK_PATH TRUE) |
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# ) |
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## Mark executables and/or libraries for installation |
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IF (catkin_FOUND) |
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install(TARGETS humotion |
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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 ${CATKIN_PACKAGE_BIN_DESTINATION}
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) |
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## Mark cpp header files for installation |
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install(DIRECTORY include/humotion/ |
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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) |
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ENDIF (catkin_FOUND) |
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install(TARGETS humotion |
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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 ${CATKIN_PACKAGE_BIN_DESTINATION}
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) |
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## Mark cpp header files for installation |
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install(DIRECTORY include/humotion/ |
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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) |
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############# |
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## Testing ## |
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############# |
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IF (catkin_FOUND) |
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## Add gtest based cpp test target and link libraries |
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catkin_add_gtest(${PROJECT_NAME}-test-server test/server.cpp)
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if(TARGET ${PROJECT_NAME}-test-server)
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target_link_libraries(${PROJECT_NAME}-test-server ${PROJECT_NAME})
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endif() |
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catkin_add_gtest(${PROJECT_NAME}-test-client test/client.cpp)
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if(TARGET ${PROJECT_NAME}-test-client)
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target_link_libraries(${PROJECT_NAME}-test-client ${PROJECT_NAME})
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endif() |
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catkin_add_gtest(${PROJECT_NAME}-test-timestamp test/timestamp.cpp)
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if(TARGET ${PROJECT_NAME}-test-timestamp)
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target_link_libraries(${PROJECT_NAME}-test-timestamp ${PROJECT_NAME})
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endif() |
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ENDIF (catkin_FOUND) |
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## Add gtest based cpp test target and link libraries |
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catkin_add_gtest(${PROJECT_NAME}-test-server test/server.cpp)
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if(TARGET ${PROJECT_NAME}-test-server)
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target_link_libraries(${PROJECT_NAME}-test-server ${PROJECT_NAME})
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endif() |
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catkin_add_gtest(${PROJECT_NAME}-test-client test/client.cpp)
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if(TARGET ${PROJECT_NAME}-test-client)
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target_link_libraries(${PROJECT_NAME}-test-client ${PROJECT_NAME})
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endif() |
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catkin_add_gtest(${PROJECT_NAME}-test-timestamp test/timestamp.cpp)
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if(TARGET ${PROJECT_NAME}-test-timestamp)
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target_link_libraries(${PROJECT_NAME}-test-timestamp ${PROJECT_NAME})
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endif() |
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### Add folders to be run by python nosetests |
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# catkin_add_nosetests(test) |
Also available in: Unified diff