From f4640f8d88c95861898cdbc84c74e9c3afe5e069 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez <shernand@iri103.users.iri.prv>
Date: Fri, 15 Apr 2016 17:34:48 +0200
Subject: [PATCH] Made the built of the arm kinematics library conditional on
the existence of the KDL library. Set a variable with the path to the darwin
firmware.
---
src/CMakeLists.txt | 42 +++++++++++++++++++++++++++---------------
1 file changed, 27 insertions(+), 15 deletions(-)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 173b64e..dffe470 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,3 +1,5 @@
+SET(DARWIN_FW_PATH /home/shernand/humanoids/darwin_stm32_fw)
+
ADD_SUBDIRECTORY(xml)
IF(HAVE_XSD)
ADD_DEFINITIONS(-D_HAVE_XSD)
@@ -7,7 +9,7 @@ ENDIF(HAVE_XSD)
INCLUDE (${PROJECT_SOURCE_DIR}/FindPkgConfig.cmake)
## Find KDL
-SET(KDL_INSTALL /opt/ros/hydro)
+SET(KDL_INSTALL /opt/ros/indigo)
INCLUDE (${PROJECT_SOURCE_DIR}/FindKDL.cmake)
# driver source files
@@ -15,10 +17,12 @@ SET(robot_sources darwin_robot.cpp darwin_robot_exceptions.cpp)
# application header files
SET(robot_headers darwin_robot.h darwin_robot_exceptions.h)
-# driver source files
-SET(kin_sources darwin_arm_kinematics.cpp darwin_robot_exceptions.cpp)
-# application header files
-SET(kin_headers darwin_arm_kinematics.h darwin_robot_exceptions.h)
+IF(KDL_FOUND)
+ # driver source files
+ SET(kin_sources darwin_arm_kinematics.cpp darwin_robot_exceptions.cpp)
+ # application header files
+ SET(kin_headers darwin_arm_kinematics.h darwin_robot_exceptions.h)
+ENDIF(KDL_FOUND)
# locate the necessary dependencies
FIND_PACKAGE(iriutils REQUIRED)
@@ -27,7 +31,7 @@ FIND_PACKAGE(dynamixel REQUIRED)
INCLUDE_DIRECTORIES(.)
INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${dynamixel_INCLUDE_DIR})
-INCLUDE_DIRECTORIES(../../../stm32_firmware/include/)
+INCLUDE_DIRECTORIES(${DARWIN_FW_PATH}/include)
# create the shared library
ADD_LIBRARY(darwin_robot SHARED ${robot_sources} ${XSD_SOURCES})
ADD_DEPENDENCIES(darwin_robot xsd_files_gen)
@@ -36,21 +40,29 @@ TARGET_LINK_LIBRARIES(darwin_robot ${iriutils_LIBRARY})
TARGET_LINK_LIBRARIES(darwin_robot ${dynamixel_LIBRARY})
TARGET_LINK_LIBRARIES(darwin_robot ${XSD_LIBRARY})
-ADD_LIBRARY(darwin_arm_kinematics SHARED ${kin_sources} ${XSD_SOURCES})
-ADD_DEPENDENCIES(darwin_arm_kinematics xsd_files_gen)
-# link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_arm_kinematics ${iriutils_LIBRARY})
-TARGET_LINK_LIBRARIES(darwin_arm_kinematics ${XSD_LIBRARY})
-TARGET_LINK_LIBRARIES(darwin_arm_kinematics ${KDL_LIBS})
+IF(KDL_FOUND)
+ ADD_LIBRARY(darwin_arm_kinematics SHARED ${kin_sources} ${XSD_SOURCES})
+ ADD_DEPENDENCIES(darwin_arm_kinematics xsd_files_gen)
+ # link necessary libraries
+ TARGET_LINK_LIBRARIES(darwin_arm_kinematics ${iriutils_LIBRARY})
+ TARGET_LINK_LIBRARIES(darwin_arm_kinematics ${XSD_LIBRARY})
+ TARGET_LINK_LIBRARIES(darwin_arm_kinematics ${KDL_LIBS})
+ENDIF(KDL_FOUND)
-SET_SOURCE_FILES_PROPERTIES(${XSD_SOURCES} PROPERTIES GENERATED 1)
SET_SOURCE_FILES_PROPERTIES(${XSD_SOURCES} PROPERTIES GENERATED 1)
-INSTALL(TARGETS darwin_robot darwin_arm_kinematics
+INSTALL(TARGETS darwin_robot
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib/iridrivers
ARCHIVE DESTINATION lib/iridrivers)
-INSTALL(FILES ${robot_headers} ${kin_headers} DESTINATION include/iridrivers)
+INSTALL(FILES ${robot_headers} DESTINATION include/iridrivers)
+IF(KDL_FOUND)
+ INSTALL(FILES ${kin_heders} DESTINATION include/iridrivers)
+ INSTALL(TARGETS darwin_arm_kinematics
+ RUNTIME DESTINATION bin
+ LIBRARY DESTINATION lib/iridrivers
+ ARCHIVE DESTINATION lib/iridrivers)
+ENDIF(KDL_FOUND)
INSTALL(FILES ../Finddarwin_robot.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
INSTALL(FILES ../Finddarwin_arm_kinematics.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
ADD_SUBDIRECTORY(examples)
--
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