finding processors to compile publishers

CMakeLists.txt

@@ -20,10 +20,6 @@ find_package(catkin REQUIRED COMPONENTS
 ## System dependencies are found with CMake's conventions
 find_package(wolfcore REQUIRED)
 find_package(wolflaser REQUIRED)
-#find_package(falkolib QUIET)
-#find_package(PkgConfig)
-#pkg_check_modules(csm QUIET csm)
-# link_directories(${csm_LIBRARY_DIRS})
 
 # produces the XXXConfig.cmake file among other things
 catkin_package(
@@ -40,10 +36,6 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-# Bad -> should be removed eventually
-# INCLUDE_DIRECTORIES("${falkolib_INCLUDE_DIRS}")
-# INCLUDE_DIRECTORIES("${csm_INCLUDE_DIRS}")
-
 add_library(publisher_${PROJECT_NAME}
   ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_laser_map.cpp
 )
@@ -51,16 +43,36 @@ add_library(subscriber_${PROJECT_NAME}
   ${CMAKE_CURRENT_SOURCE_DIR}/src/subscriber_laser2d.cpp
 )
 
-find_file(FALKO laser/processor/processor_loop_cosure_falko.h wolflaser_INCLUDE_DIRS)
+get_target_property(wolflaser_INCLUDE_DIRS wolflaser INTERFACE_INCLUDE_DIRECTORIES)
+message("wolflaser_INCLUDE_DIRS: ${wolflaser_INCLUDE_DIRS}")
+find_file(FALKO processor_loop_cosure_falko.h PATHS wolflaser_INCLUDE_DIRS PATH_SUFFIXES laser/processor /laser/processor laser/processor/ /laser/processor/ NO_DEFAULT_PATH)
+find_file(ICP laser/processor/processor_odom_icp.h PATHS wolflaser_INCLUDE_DIRS NO_DEFAULT_PATH)
+
+message("FALKO: ${FALKO}")
+if (NOT FALKO-NOTFOUND)
+  message("NOT FALKO-NOTFOUND")
+else()
+  message("FALKO-NOTFOUND")
+endif()
+message("ICP: ${ICP}")
+if (NOT ICP-NOTFOUND)
+  message("NOT ICP-NOTFOUND")
+else()
+  message("ICP-NOTFOUND")
+endif()
+
 if (FALKO)
 	message("Found 'processor_loop_cosure_falko.h'. Compiling publisher_falko.")
 	target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_falko.cpp)
+else()
+  message("Didn't find 'processor_loop_cosure_falko.h'. Not compiling publisher_falko.")
 endif()
 
-find_file(ICP laser/processor/processor_odom_icp.h wolflaser_INCLUDE_DIRS)
 if (ICP)
 	message("Found 'processor_odom_icp.h'. Compiling publisher_odom_icp.")
 	target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_odom_icp.cpp)
+else()
+  message("Didn't find 'processor_odom_icp.h'. Not compiling publisher_odom_icp.")
 endif ()
 
 ## Specify libraries to link a library or executable target against