CMakeLists.txt

cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

include(FindPkgConfig)

set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

rosbuild_genmsg()

rosbuild_add_boost_directories()

pkg_check_modules(JRL_MAL REQUIRED jrl-mal)
pkg_check_modules(DYNAMIC_GRAPH REQUIRED dynamic-graph)
pkg_check_modules(SOT_CORE REQUIRED sot-core)

rosbuild_add_library(ros_bridge
  src/converter.hh
  src/ros_init.hh src/ros_init.cpp
  src/sot_to_ros.hh src/sot_to_ros.cpp
  )

rosbuild_add_library(ros_import src/ros_import.cpp src/ros_import.hh)
rosbuild_add_compile_flags(ros_import ${JRL_MAL_CFLAGS} ${DYNAMIC_GRAPH_CFLAGS}
  ${SOT_CORE_CFLAGS})
rosbuild_add_link_flags(ros_import ${JRL_MAL_LDFLAGS} ${DYNAMIC_GRAPH_LDFLAGS}
  ${SOT_CORE_LDFLAGS})
target_link_libraries(ros_import ros_bridge)
target_link_libraries(ros_import
  ${JRL_MAL_LIBRARIES} ${DYNAMIC_GRAPH_LIBRARIES} ${SOT_CORE_LIBRARIES})

rosbuild_add_library(ros_export src/ros_export.cpp src/ros_export.hh)
rosbuild_add_compile_flags(ros_export ${JRL_MAL_CFLAGS} ${DYNAMIC_GRAPH_CFLAGS}
  ${SOT_CORE_CFLAGS})
rosbuild_add_link_flags(ros_export ${JRL_MAL_LDFLAGS} ${DYNAMIC_GRAPH_LDFLAGS}
  ${SOT_CORE_LDFLAGS})
target_link_libraries(ros_export ros_bridge)
target_link_libraries(ros_export
  ${JRL_MAL_LIBRARIES} ${DYNAMIC_GRAPH_LIBRARIES} ${SOT_CORE_LIBRARIES})

rosbuild_add_library(ros_joint_state
  src/ros_joint_state.cpp src/ros_joint_state)
rosbuild_add_compile_flags(ros_joint_state
  ${JRL_MAL_CFLAGS} ${DYNAMIC_GRAPH_CFLAGS}
  ${SOT_CORE_CFLAGS})
rosbuild_add_link_flags(ros_joint_state ${JRL_MAL_LDFLAGS}
  ${DYNAMIC_GRAPH_LDFLAGS} ${SOT_CORE_LDFLAGS})
target_link_libraries(ros_joint_state ros_bridge)
target_link_libraries(ros_joint_state
  ${JRL_MAL_LIBRARIES} ${DYNAMIC_GRAPH_LIBRARIES} ${SOT_CORE_LIBRARIES})



INSTALL(TARGETS ros_bridge DESTINATION lib)
INSTALL(TARGETS ros_import DESTINATION lib)
INSTALL(TARGETS ros_export DESTINATION lib)
INSTALL(TARGETS ros_joint_state DESTINATION lib)

INCLUDE(cmake/python.cmake)

INCLUDE_DIRECTORIES(${DYNAMIC_GRAPH_INCLUDE_DIRS})
LINK_DIRECTORIES(${DYNAMIC_GRAPH_LIBRARY_DIRS})

DYNAMIC_GRAPH_PYTHON_MODULE("ros/ros_import"
  ros_import
  ros/ros_import/wrap
  )
SET_TARGET_PROPERTIES(dynamic_graph/ros/ros_import/wrap
  PROPERTIES
  COMPILE_FLAGS
  ${JRL_MAL_CFLAGS} ${DYNAMIC_GRAPH_CFLAGS} ${SOT_CORE_CFLAGS}
  LINK_FLAGS
  ${JRL_MAL_LDFLAGS} ${DYNAMIC_GRAPH_LDFLAGS} ${SOT_CORE_LDFLAGS}
  )

DYNAMIC_GRAPH_PYTHON_MODULE("ros/ros_export"
  ros_export
  ros/ros_export/wrap
  )
SET_TARGET_PROPERTIES(dynamic_graph/ros/ros_export/wrap
  PROPERTIES
  COMPILE_FLAGS
  ${JRL_MAL_CFLAGS} ${DYNAMIC_GRAPH_CFLAGS} ${SOT_CORE_CFLAGS}
  LINK_FLAGS
  ${JRL_MAL_LDFLAGS} ${DYNAMIC_GRAPH_LDFLAGS} ${SOT_CORE_LDFLAGS}
  )

DYNAMIC_GRAPH_PYTHON_MODULE("ros/ros_joint_state"
  ros_joint_state
  ros/ros_joint_state/wrap
  )
SET_TARGET_PROPERTIES(dynamic_graph/ros/ros_joint_state/wrap
  PROPERTIES
  COMPILE_FLAGS
  ${JRL_MAL_CFLAGS} ${DYNAMIC_GRAPH_CFLAGS} ${SOT_CORE_CFLAGS}
  LINK_FLAGS
  ${JRL_MAL_LDFLAGS} ${DYNAMIC_GRAPH_LDFLAGS} ${SOT_CORE_LDFLAGS}
  )

ADD_SUBDIRECTORY(src)