103 lines
3.0 KiB
CMake
103 lines
3.0 KiB
CMake
cmake_minimum_required(VERSION 3.7.2)
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project(kdl_parser)
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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find_package(catkin QUIET
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COMPONENTS rosconsole cmake_modules
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)
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if(NOT catkin_FOUND)
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# use local copies of FindTinyXML.cmake and FindTinyXML2.cmake from
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# 'cmake_modules' (https://github.com/ros/cmake_modules)
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake)
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endif()
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find_package(urdfdom REQUIRED)
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include_directories(${urdfdom_INCLUDE_DIRS})
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find_package(orocos_kdl REQUIRED)
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find_package(TinyXML REQUIRED)
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find_package(TinyXML2 REQUIRED)
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# check for rosconsole
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# We check additionally for catkin to distinguish between an "official" ROS distribution
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# and the one provided in the distribution's repository.
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find_package(rosconsole QUIET)
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if(rosconsole_FOUND AND catkin_FOUND)
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add_definitions(-DHAS_ROS)
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endif()
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find_package(urdf QUIET)
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if(urdf_FOUND)
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add_definitions(-DHAS_URDF)
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include_directories(${urdf_INCLUDE_DIRS})
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endif()
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include_directories(include ${orocos_kdl_INCLUDE_DIRS} ${TinyXML_INCLUDE_DIRS} ${TinyXML2_INCLUDE_DIRS})
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if(catkin_FOUND)
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link_directories(${catkin_LIBRARY_DIRS})
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include_directories(${catkin_INCLUDE_DIRS})
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catkin_package(
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LIBRARIES ${PROJECT_NAME} ${orocos_kdl_LIBRARIES}
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INCLUDE_DIRS include
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CATKIN_DEPENDS rosconsole urdf
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DEPENDS orocos_kdl TinyXML TinyXML2
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)
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endif()
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add_library(${PROJECT_NAME} SHARED src/kdl_parser.cpp)
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target_link_libraries(${PROJECT_NAME}
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${TinyXML_LIBRARIES} ${TinyXML2_LIBRARIES} ${orocos_kdl_LIBRARIES}
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)
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target_link_libraries(${PROJECT_NAME} ${urdfdom_LIBRARIES})
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if(catkin_FOUND)
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target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
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endif()
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if(urdf_FOUND)
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target_link_libraries(${PROJECT_NAME} ${urdf_LIBRARIES})
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endif()
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if(WIN32)
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target_compile_definitions(${PROJECT_NAME} PRIVATE "KDL_PARSER_BUILDING_DLL")
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endif()
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add_executable(check_kdl_parser src/check_kdl_parser.cpp )
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target_link_libraries(check_kdl_parser ${PROJECT_NAME})
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if(catkin_FOUND AND CATKIN_ENABLE_TESTING)
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find_package(catkin REQUIRED COMPONENTS roscpp rostest)
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add_rostest_gtest(test_kdl_parser test/test_kdl_parser.launch test/test_kdl_parser.cpp )
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target_link_libraries(test_kdl_parser ${PROJECT_NAME})
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add_rostest_gtest(test_inertia_rpy test/test_inertia_rpy.launch test/test_inertia_rpy.cpp )
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target_link_libraries(test_inertia_rpy ${PROJECT_NAME})
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endif()
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if(catkin_FOUND)
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# How does CATKIN do this?
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#rosbuild_add_rostest(${PROJECT_SOURCE_DIR}/test/test_kdl_parser.launch)
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# Install library
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install(TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
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else()
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install(TARGETS ${PROJECT_NAME}
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION include)
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endif()
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