Adapted to Cmake plural variables *_DIRS and *_LIBRARIES

Finddynamixel.cmake

 #edit the following line to add the librarie's header files
-FIND_PATH(dynamixel_INCLUDE_DIR dynamixel.h dynamixelserver.h dynamixelexceptions.h dynamixel_common.h dynamixel_slave.h dynamixel_slave_ftdi.h dynamixel_slave_serial.h dynamixelserver_ftdi.h dynamixelserver_serial.h /usr/local/include/iridrivers /usr/local/include/iri/dynamixel /usr/include/iri/dynamixel)
+FIND_PATH(dynamixel_INCLUDE_DIRS dynamixel.h dynamixelserver.h dynamixelexceptions.h dynamixel_common.h dynamixel_slave.h dynamixel_slave_ftdi.h dynamixel_slave_serial.h dynamixelserver_ftdi.h dynamixelserver_serial.h /usr/local/include/iridrivers /usr/local/include/iri/dynamixel /usr/include/iri/dynamixel)
 
-FIND_LIBRARY(dynamixel_LIBRARY
+FIND_LIBRARY(dynamixel_LIBRARIES
     NAMES dynamixel
     PATHS /usr/local/lib/iridrivers /usr/local/lib/iri/dynamixel /usr/lib/iri/dynamixel)
 
-SET(dynamixel_INCLUDE_DIRS ${dynamixel_INCLUDE_DIR})
-SET(dynamixel_LIBRARIES    ${dynamixel_LIBRARY})
+SET(dynamixel_INCLUDE_DIR ${dynamixel_INCLUDE_DIRS})
+SET(dynamixel_LIBRARY    ${dynamixel_LIBRARIES})
 
-IF (dynamixel_INCLUDE_DIR AND dynamixel_LIBRARY)
+IF (dynamixel_INCLUDE_DIRS AND dynamixel_LIBRARIES)
    SET(dynamixel_FOUND TRUE)
-ENDIF (dynamixel_INCLUDE_DIR AND dynamixel_LIBRARY)
+ENDIF (dynamixel_INCLUDE_DIRS AND dynamixel_LIBRARIES)
 
 IF (dynamixel_FOUND)
    IF (NOT dynamixel_FIND_QUIETLY)
-      MESSAGE(STATUS "Found dynamixel: ${dynamixel_LIBRARY}")
+      MESSAGE(STATUS "Found dynamixel: ${dynamixel_LIBRARIES}")
    ENDIF (NOT dynamixel_FIND_QUIETLY)
 ELSE (dynamixel_FOUND)
    IF (dynamixel_FIND_REQUIRED)

src/CMakeLists.txt

@@ -13,8 +13,8 @@ FIND_PACKAGE(comm REQUIRED)
 find_package(Boost REQUIRED)
 
 # edit the following line to add the necessary include directories
-INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR})
-INCLUDE_DIRECTORIES(${comm_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(${comm_INCLUDE_DIRS})
 INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
 
 SET_SOURCE_FILES_PROPERTIES(${XSD_SOURCES} PROPERTIES GENERATED 1)
@@ -22,9 +22,9 @@ SET_SOURCE_FILES_PROPERTIES(${XSD_SOURCES} PROPERTIES GENERATED 1)
 ADD_LIBRARY(dynamixel SHARED ${sources} ${XSD_SOURCES})
 
 #edit the following line to add the necessary system libraries (if any)
-TARGET_LINK_LIBRARIES(dynamixel ${iriutils_LIBRARY})
-TARGET_LINK_LIBRARIES(dynamixel ${comm_LIBRARY})
-TARGET_LINK_LIBRARIES(dynamixel ${XSD_LIBRARY})
+TARGET_LINK_LIBRARIES(dynamixel ${iriutils_LIBRARIES})
+TARGET_LINK_LIBRARIES(dynamixel ${comm_LIBRARIES})
+TARGET_LINK_LIBRARIES(dynamixel ${XSD_LIBRARIES})
 TARGET_LINK_LIBRARIES(dynamixel ${Boost_LIBRARIES})
 
 ADD_DEPENDENCIES(dynamixel xsd_files_gen)

src/xml/CMakeLists.txt

@@ -4,14 +4,16 @@ IF(EXISTS "/usr/include/xsd/cxx")
    SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -D_HAVE_XSD" PARENT_SCOPE)
    SET(XSD_FOUND TRUE) 
    MESSAGE(STATUS "Found the XML library ... adding support for XML files")
-   FIND_LIBRARY(XSD_LIBRARY
+   FIND_LIBRARY(XSD_LIBRARIES
       NAMES xerces-c
-      PATHS /usr/lib /usr/local/lib)
+      PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu/)
+   SET(XSD_LIBRARY    ${XSD_LIBRARIES})
 ELSE(EXISTS "/usr/include/xsd/cxx")
    MESSAGE(STATUS "XML library not found ... it will be impossible to handle XML files")
 ENDIF(EXISTS "/usr/include/xsd/cxx")
 
 IF(XSD_FOUND)
+   SET(XSD_LIBRARIES ${XSD_LIBRARIES} PARENT_SCOPE)
    SET(XSD_LIBRARY ${XSD_LIBRARY} PARENT_SCOPE)
 
    SET(XSD_PATH ${CMAKE_CURRENT_SOURCE_DIR})