From 8a8bc15abc16d9a32438c1ac7b3c8a84af503717 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Tue, 4 Oct 2016 02:09:15 +0200
Subject: [PATCH] [cmake/ros] Fix problem with generation of catkin pc file.
Add proper dependence to the SoT packages.
---
CMakeLists.txt | 30 ++++++++++++++++++++++--------
package.xml | 40 ++++++++++++++++++++--------------------
2 files changed, 42 insertions(+), 28 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6a43e0e..5c86ea6 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -56,17 +56,24 @@ set(PKG_CONFIG_ADDITIONAL_VARIABLES
plugindir
)
+# Add dependency to SoT specific packages.
+SET(SOT_PKGNAMES
+sot-core
+sot-dynamic
+jrl-dynamics-urdf
+dynamic_graph_bridge_msgs)
+
add_required_dependency(roscpp)
add_required_dependency("realtime_tools >= 1.8")
add_required_dependency(bullet)
-add_required_dependency(jrl-mal)
-add_required_dependency(dynamic-graph)
-add_required_dependency(dynamic-graph-python)
-add_required_dependency(sot-core)
-add_required_dependency(sot-dynamic)
-add_required_dependency(jrl-dynamics-urdf)
-add_required_dependency(dynamic_graph_bridge_msgs)
+foreach(sot_pkgname ${SOT_PKGNAMES})
+ add_required_dependency(${sot_pkgname})
+ pkg_check_modules(SOT_${sot_pkgname} REQUIRED ${sot_pkgname})
+endforeach(sot_pkgname)
+
+
+# Build ros_bridge library
add_library(ros_bridge
src/converter.hh
include/dynamic_graph_bridge/ros_init.hh src/ros_init.cpp
@@ -115,6 +122,7 @@ endmacro()
include(cmake/python.cmake)
+# Build Sot Entities
compile_plugin(ros_publish)
compile_plugin(ros_subscribe)
compile_plugin(ros_time)
@@ -169,7 +177,13 @@ add_subdirectory(src)
# Deal with the ROS part.
add_service_files( FILES RunPythonFile.srv )
generate_messages( DEPENDENCIES std_msgs )
-catkin_package(CATKIN_DEPENDS message_runtime LIBRARIES ros_bridge ros_interpreter)
+
+# This is necessary so that the pc file generated by catking is similar to the on
+# done directly by jrl-cmake-modules
+catkin_package(CATKIN_DEPENDS message_runtime roscpp realtime_tools bullet ${SOT_PKGNAMES}
+LIBRARIES ros_bridge ros_interpreter
+)
+
# Add libraries in pc file generated by cmake submodule
PKG_CONFIG_APPEND_LIBS(ros_bridge ros_interpreter)
diff --git a/package.xml b/package.xml
index a3a33b8..e76547a 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
-<package>
+<package format="2">
<name>dynamic_graph_bridge</name>
- <version>2.0.6</version>
+ <version>2.0.8</version>
<description>
ROS bindings for dynamic graph.
@@ -18,22 +18,22 @@
<buildtool_depend>catkin</buildtool_depend>
- <build_depend>std_msgs</build_depend>
- <build_depend>std_srvs</build_depend>
- <build_depend>roscpp</build_depend>
- <build_depend>geometry_msgs</build_depend>
- <build_depend>sensor_msgs</build_depend>
- <build_depend>tf</build_depend>
- <build_depend>realtime_tools</build_depend>
- <build_depend>message_generation</build_depend>
-
-
- <run_depend>std_msgs</run_depend>
- <run_depend>std_srvs</run_depend>
- <run_depend>roscpp</run_depend>
- <run_depend>geometry_msgs</run_depend>
- <run_depend>sensor_msgs</run_depend>
- <run_depend>tf</run_depend>
- <run_depend>realtime_tools</run_depend>
- <run_depend>message_runtime</run_depend>
+ <depend>std_msgs</depend>
+ <depend>std_srvs</depend>
+ <depend>roscpp</depend>
+ <depend>geometry_msgs</depend>
+ <depend>sensor_msgs</depend>
+ <depend>tf</depend>
+ <depend>realtime_tools</depend>
+ <depend>message_generation</depend>
+ <depend>message_runtime</depend>
+
+ <depend>bullet</depend>
+ <depend>jrl-mal</depend>
+ <depend>dynamic-graph</depend>
+ <depend>dynamic-graph-python</depend>
+ <depend>sot-core</depend>
+ <depend>sot-dynamic</depend>
+ <depend>jrl-dynamics-urdf</depend>
+ <depend>dynamic_graph_bridge_msgs</depend>
</package>
--
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