CMakeLists.txt

# Copyright (C) 2008-2020 LAAS-CNRS, JRL AIST-CNRS.
#
# Author: Florent Lamiraux, Nirmal Giftsun, Guilhem Saurel
#

CMAKE_MINIMUM_REQUIRED(VERSION 3.1)

# Project properties
SET(PROJECT_ORG stack-of-tasks)
SET(PROJECT_NAME dynamic_graph_bridge)
SET(PROJECT_DESCRIPTION "Dynamic graph bridge library")
SET(PROJECT_URL "https://github.com/${PROJECT_ORG}/${PROJECT_NAME}")
SET(PROJECT_SUFFIX "-v3")

# Project options
OPTION(BUILD_PYTHON_INTERFACE "Build the python bindings" ON)

# Project configuration
SET(PROJECT_USE_CMAKE_EXPORT TRUE)
SET(CUSTOM_HEADER_DIR ${PROJECT_NAME})
set(CXX_DISABLE_WERROR FALSE)
SET(DOXYGEN_USE_MATHJAX YES)
SET(CATKIN_ENABLE_TESTING OFF)

# JRL-cmakemodule setup
INCLUDE(cmake/base.cmake)
INCLUDE(cmake/boost.cmake)
INCLUDE(cmake/python.cmake)
INCLUDE(cmake/ros.cmake)

# Project definition
COMPUTE_PROJECT_ARGS(PROJECT_ARGS LANGUAGES CXX)
PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})

# Project dependencies
SET(CATKIN_REQUIRED_COMPONENTS roscpp std_msgs message_generation std_srvs geometry_msgs sensor_msgs tf2_ros
    realtime_tools)

IF(BUILD_PYTHON_INTERFACE)
  FINDPYTHON()
  STRING(REGEX REPLACE "-" "_" PY_NAME ${PROJECT_NAME})
  ADD_PROJECT_DEPENDENCY(dynamic-graph-python REQUIRED
    PKG_CONFIG_REQUIRES dynamic-graph-python)
  SET(CATKIN_REQUIRED_COMPONENTS ${CATKIN_REQUIRED_COMPONENTS} rospy)
  SET(BOOST_COMPONENTS ${BOOST_COMPONENTS} python)
ENDIF(BUILD_PYTHON_INTERFACE)

find_package(catkin REQUIRED COMPONENTS ${CATKIN_REQUIRED_COMPONENTS})

SEARCH_FOR_BOOST()

ADD_PROJECT_DEPENDENCY(sot-core REQUIRED PKG_CONFIG_REQUIRES sot-core)

add_required_dependency(dynamic_graph_bridge_msgs)

# Main Library
set(${PROJECT_NAME}_HEADERS
  include/dynamic_graph_bridge/ros_init.hh
  include/dynamic_graph_bridge/sot_loader.hh
  include/dynamic_graph_bridge/sot_loader_basic.hh
  include/dynamic_graph_bridge/ros_interpreter.hh
  src/converter.hh
  src/sot_to_ros.hh
  )

SET(${PROJECT_NAME}_SOURCES
  src/ros_init.cpp
  src/sot_to_ros.cpp
  src/ros_parameter.cpp
  )

ADD_LIBRARY(ros_bridge SHARED
  ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_HEADERS})
TARGET_INCLUDE_DIRECTORIES(ros_bridge SYSTEM PUBLIC ${catkin_INCLUDE_DIRS})
TARGET_INCLUDE_DIRECTORIES(ros_bridge PUBLIC $<INSTALL_INTERFACE:include>)
TARGET_LINK_LIBRARIES(ros_bridge ${catkin_LIBRARIES}
  sot-core::sot-core pinocchio::pinocchio)
pkg_config_use_dependency(ros_bridge dynamic_graph_bridge_msgs)

IF(SUFFIX_SO_VERSION)
  SET_TARGET_PROPERTIES(ros_bridge PROPERTIES SOVERSION ${PROJECT_VERSION})
ENDIF(SUFFIX_SO_VERSION)

IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
  INSTALL(TARGETS ros_bridge EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)

add_subdirectory(src)
add_subdirectory(tests)

#install ros executables
install(PROGRAMS
  scripts/robot_pose_publisher
  scripts/run_command
  scripts/tf_publisher
  DESTINATION share/${PROJECT_NAME}
  )

# Install package information
install(FILES manifest.xml package.xml DESTINATION share/${PROJECT_NAME})
PKG_CONFIG_APPEND_LIBS(ros_bridge sot_loader)