Adapted to CMake plural variables *_DIRS and *_LIBRARIES

Finddynamixel_pan_tilt.cmake

 #edit the following line to add the librarie's header files
-FIND_PATH(dynamixel_pan_tilt_INCLUDE_DIR dynamixel_pan_tilt.h dynamixel_pan_tilt_exceptions.h /usr/local/include/iridrivers /usr/local/include/iri/dynamixel_pan_tilt /usr/include/iri/dynamixel_pan_tilt)
+FIND_PATH(dynamixel_pan_tilt_INCLUDE_DIRS dynamixel_pan_tilt.h dynamixel_pan_tilt_exceptions.h /usr/local/include/iridrivers /usr/local/include/iri/dynamixel_pan_tilt /usr/include/iri/dynamixel_pan_tilt)
 
-FIND_LIBRARY(dynamixel_pan_tilt_LIBRARY
+FIND_LIBRARY(dynamixel_pan_tilt_LIBRARIES
     NAMES dynamixel_pan_tilt
     PATHS /usr/local/lib/iridrivers /usr/local/lib/iri/dynamixel_pan_tilt /usr/lib/iri/dynamixel_pan_tilt) 
 
-IF (dynamixel_pan_tilt_INCLUDE_DIR AND dynamixel_pan_tilt_LIBRARY)
+SET(dynamixel_pan_tilt_INCLUDE_DIR ${dynamixel_pan_tilt_INCLUDE_DIRS})
+SET(dynamixel_pan_tilt_LIBRARY    ${dynamixel_pan_tilt_LIBRARIES})
+
+IF (dynamixel_pan_tilt_INCLUDE_DIRS AND dynamixel_pan_tilt_LIBRARIES)
    SET(dynamixel_pan_tilt_FOUND TRUE)
-ENDIF (dynamixel_pan_tilt_INCLUDE_DIR AND dynamixel_pan_tilt_LIBRARY)
+ENDIF (dynamixel_pan_tilt_INCLUDE_DIRS AND dynamixel_pan_tilt_LIBRARIES)
 
 IF (dynamixel_pan_tilt_FOUND)
    IF (NOT dynamixel_pan_tilt_FIND_QUIETLY)
-      MESSAGE(STATUS "Found dynamixel_pan_tilt: ${dynamixel_pan_tilt_LIBRARY}")
+      MESSAGE(STATUS "Found dynamixel_pan_tilt: ${dynamixel_pan_tilt_LIBRARIES}")
    ENDIF (NOT dynamixel_pan_tilt_FIND_QUIETLY)
 ELSE (dynamixel_pan_tilt_FOUND)
    IF (dynamixel_pan_tilt_FIND_REQUIRED)

src/CMakeLists.txt

@@ -17,14 +17,14 @@ FIND_PACKAGE(dynamixel REQUIRED)
 FIND_PACKAGE(dynamixel_motor_cont REQUIRED)
 
 # edit the following line to add the necessary include directories
-INCLUDE_DIRECTORIES(. ${iriutils_INCLUDE_DIR} ${comm_INCLUDE_DIR} ${dynamixel_INCLUDE_DIR} ${dynamixel_motor_cont_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(. ${iriutils_INCLUDE_DIRS} ${comm_INCLUDE_DIRS} ${dynamixel_INCLUDE_DIRS} ${dynamixel_motor_cont_INCLUDE_DIRS})
 
 SET_SOURCE_FILES_PROPERTIES(${XSD_SOURCES} PROPERTIES GENERATED 1)
 
 ADD_LIBRARY(dynamixel_pan_tilt SHARED ${sources} ${XSD_SOURCES})
 
 #edit the following line to add the necessary system libraries (if any)
-TARGET_LINK_LIBRARIES(dynamixel_pan_tilt ${iriutils_LIBRARY} ${comm_LIBRARY} ${dynamixel_LIBRARY} ${dynamixel_motor_cont_LIBRARY} ${XSD_LIBRARY})
+TARGET_LINK_LIBRARIES(dynamixel_pan_tilt ${iriutils_LIBRARIES} ${comm_LIBRARIES} ${dynamixel_LIBRARIES} ${dynamixel_motor_cont_LIBRARIES} ${XSD_LIBRARIES})
 
 ADD_DEPENDENCIES(dynamixel_pan_tilt xsd_files_gen)
 

src/xml/CMakeLists.txt

@@ -4,17 +4,19 @@ 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 /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_FILES dynamixel_pan_tilt_cfg_file.xsd)
-   
 
    IF(XSD_FILES)
       SET(XSD_PATH ${CMAKE_CURRENT_SOURCE_DIR})