From 0143d4a8709e8f956453f57cc56cd38c3ea48a0c Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Mon, 30 Mar 2020 22:02:39 +0200
Subject: [PATCH] [CMake] fix catkin libraries use
---
CMakeLists.txt | 8 ++------
src/CMakeLists.txt | 13 ++++---------
2 files changed, 6 insertions(+), 15 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index a338b60..961a478 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -33,7 +33,8 @@ 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)
+SET(CATKIN_REQUIRED_COMPONENTS roscpp std_msgs message_generation std_srvs geometry_msgs sensor_msgs tf2_ros
+ realtime_tools)
IF(BUILD_PYTHON_INTERFACE)
FINDPYTHON()
@@ -45,14 +46,9 @@ IF(BUILD_PYTHON_INTERFACE)
ENDIF(BUILD_PYTHON_INTERFACE)
find_package(catkin REQUIRED COMPONENTS ${CATKIN_REQUIRED_COMPONENTS})
-find_package(realtime_tools)
SEARCH_FOR_BOOST()
-add_required_dependency(roscpp)
-add_required_dependency(tf2_ros)
-add_required_dependency("realtime_tools >= 1.8")
-
ADD_PROJECT_DEPENDENCY(sot-core REQUIRED PKG_CONFIG_REQUIRES sot-core)
add_required_dependency(dynamic_graph_bridge_msgs)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 653ee63..e388d6f 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -14,7 +14,7 @@ FOREACH(plugin ${plugins})
SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})
ENDIF(SUFFIX_SO_VERSION)
- TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ros_bridge ${${LIBRARY_NAME}_deps})
+ TARGET_LINK_LIBRARIES(${LIBRARY_NAME} ${${LIBRARY_NAME}_deps} ${catkin_LIBRARIES} ros_bridge)
IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
INSTALL(TARGETS ${LIBRARY_NAME} EXPORT ${TARGETS_EXPORT_NAME}
@@ -25,9 +25,6 @@ FOREACH(plugin ${plugins})
STRING(REPLACE - _ PYTHON_LIBRARY_NAME ${LIBRARY_NAME})
DYNAMIC_GRAPH_PYTHON_MODULE("ros/${PYTHON_LIBRARY_NAME}"
${LIBRARY_NAME} ${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap)
-
- PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap realtime_tools)
- PKG_CONFIG_USE_DEPENDENCY(${PROJECT_NAME}-${PYTHON_LIBRARY_NAME}-wrap tf2_ros)
ENDIF(BUILD_PYTHON_INTERFACE)
ENDFOREACH(plugin)
@@ -40,9 +37,8 @@ IF(BUILD_PYTHON_INTERFACE)
# ros_interperter library.
add_library(ros_interpreter ros_interpreter.cpp)
- TARGET_LINK_LIBRARIES(ros_interpreter ros_bridge
+ TARGET_LINK_LIBRARIES(ros_interpreter ros_bridge ${catkin_LIBRARIES}
dynamic-graph-python::dynamic-graph-python)
- pkg_config_use_dependency(ros_interpreter roscpp)
install(TARGETS ros_interpreter
EXPORT ${TARGETS_EXPORT_NAME}
@@ -51,12 +47,11 @@ ENDIF(BUILD_PYTHON_INTERFACE)
# Stand alone embedded intepreter with a robot controller.
add_executable(geometric_simu geometric_simu.cpp sot_loader.cpp sot_loader_basic.cpp)
-pkg_config_use_dependency(geometric_simu roscpp)
-target_link_libraries(geometric_simu ros_bridge tf2_ros ${Boost_LIBRARIES} ${CMAKE_DL_LIBS})
+target_link_libraries(geometric_simu ${Boost_LIBRARIES} ${CMAKE_DL_LIBS} ${catkin_LIBRARIES} ros_bridge)
install(TARGETS geometric_simu EXPORT ${TARGETS_EXPORT_NAME}
DESTINATION bin)
# Sot loader library
add_library(sot_loader sot_loader.cpp sot_loader_basic.cpp)
-target_link_libraries(sot_loader ${Boost_LIBRARIES} roscpp ros_bridge tf2_ros)
+target_link_libraries(sot_loader ${Boost_LIBRARIES} ${catkin_LIBRARIES} ros_bridge)
install(TARGETS sot_loader EXPORT ${TARGETS_EXPORT_NAME} DESTINATION lib)
--
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