humotion

PROJECT(meka_humotion_server)

cmake_minimum_required(VERSION 2.8)

SET(MAIN ${PROJECT_NAME})

set(ENV{ROS_LANG_DISABLE} "genjava")

set(ROS_BUILD_TYPE Debug)

################################################################

# check for ROS support:

find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs message_generation genmsg)

IF (catkin_FOUND)

    set(ROS_FOUND 1)

    message(STATUS "ROS Support is ON")

    add_definitions(-DROS_SUPPORT=1)

ENDIF (catkin_FOUND)

IF (NOT catkin_FOUND)

  message(FATAL_ERROR "Error: could not find ROS!")

ENDIF ()

FIND_PACKAGE(Boost REQUIRED COMPONENTS system thread)

FIND_PACKAGE(humotion)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")

#add_message_files(

#    FILES

#)

#generate_messages(

#    DEPENDENCIES

#    std_msgs

#)

#hack to allow sub dir calls work

catkin_package(

    INCLUDE_DIRS include

    LIBRARIES humotion

    #CATKIN_DEPENDS message_runtime

    #DEPENDS system_lib

)

include_directories( ${catkin_INCLUDE_DIRS})

# add include directories

INCLUDE_DIRECTORIES(${YARP_INCLUDE_DIRS} ${ICUB_INCLUDE_DIRS} ${humotion_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} include/)

link_directories(${Boost_LIBRARY_DIRS} ${humotion_LIBRARY_DIRS})

# add required linker flags

SET(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${ICUB_LINK_FLAGS}")

file(GLOB DUMMY_HEADER_LIST RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} include/*.h)

#add_dependencies(${MAIN} ${catkin_EXPORTED_TARGETS})

ADD_EXECUTABLE(${MAIN} src/main.cpp src/mekajointinterface.cpp ${DUMMY_HEADER_LIST})

TARGET_LINK_LIBRARIES(${MAIN} ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${humotion_LIBRARIES})

set_property(TARGET ${MAIN} PROPERTY INSTALL_RPATH_USE_LINK_PATH TRUE)

#INSTALL(TARGETS ${MAIN} DESTINATION bin)

install(TARGETS ${MAIN}

    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

    RUNTIME DESTINATION bin 

)