[CMake] set RPATH to $ORIGIN

To ease search of the SDK and odri_control_interface when they are installed in the same prefix

CMakeLists.txt

@@ -101,6 +101,7 @@ set(${PROJECT_NAME}_SOURCES
 add_library(${PROJECT_NAME} SHARED ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
 target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include>)
 target_include_directories(${PROJECT_NAME} PUBLIC $<INSTALL_INTERFACE:include/qrw>)
+set_target_properties(${PROJECT_NAME} PROPERTIES INSTALL_RPATH "\$ORIGIN")
 
 # Include Eigen3 directories
 TARGET_INCLUDE_DIRECTORIES(${PROJECT_NAME} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIR})

python/CMakeLists.txt

@@ -5,7 +5,9 @@ set(${PY_NAME}_SOURCES
 add_library(${PY_NAME} SHARED ${${PY_NAME}_SOURCES})
 target_link_libraries(${PY_NAME} PUBLIC ${PROJECT_NAME} ${PYTHON_LIBRARY} eigenpy::eigenpy)
 target_include_directories(${PY_NAME} SYSTEM PRIVATE ${PYTHON_INCLUDE_DIRS})
-set_target_properties(${PY_NAME} PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${PY_NAME})
+set_target_properties(${PY_NAME} PROPERTIES 
+	LIBRARY_OUTPUT_DIRECTORY ${PY_NAME}
+	INSTALL_RPATH "\$ORIGIN/../../../..")
 TARGET_LINK_BOOST_PYTHON(${PY_NAME} PUBLIC)
 install(TARGETS ${PY_NAME} DESTINATION ${${PY_NAME}_INSTALL_DIR})