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catkin.cmake
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catkin.cmake
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# http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html
cmake_minimum_required(VERSION 2.8.3)
project(openhrp3)
# Load catkin and all dependencies required for this package
find_package(catkin REQUIRED COMPONENTS mk rostest openrtm_aist)
# Build OpenHRP3
# <devel>/lib/<package>/bin/openrhrp-*
# <devel>/lib/libhrp...
# <src>/<package>/share
if(NOT EXISTS ${CMAKE_CURRENT_BINARY_DIR}/installed)
set(ENV{PATH} ${openrtm_aist_PREFIX}/lib/openrtm_aist/bin/:$ENV{PATH}) #update PATH for rtm-config
execute_process(COMMAND cmake -E remove -f ${CMAKE_CURRENT_BINARY_DIR}/build/OpenHRP-3.1/CMakeCache.txt)
execute_process(
COMMAND cmake -E chdir ${CMAKE_CURRENT_BINARY_DIR}
make -f ${PROJECT_SOURCE_DIR}/Makefile.openhrp3
INSTALL_DIR=${CATKIN_DEVEL_PREFIX}
MK_DIR=${mk_PREFIX}/share/mk
PATCH_DIR=${PROJECT_SOURCE_DIR}
installed
RESULT_VARIABLE _make_failed)
if (_make_failed)
message(FATAL_ERROR "Compile openhrp3 failed")
endif(_make_failed)
# binary files intentionally goes to ${CATKIN_PACKAGE_BIN_DESTINATION}/lib
## make directory
execute_process(
COMMAND cmake -E make_directory ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME}
RESULT_VARIABLE _make_failed)
if (_make_failed)
message(FATAL_ERROR "make_directory ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME} failed: ${_make_failed}")
endif(_make_failed)
## copy programs
foreach(openhrp3_program export-collada openhrp-aist-dynamics-simulator openhrp-controller-bridge openhrp-model-loader openhrp-shutdown-servers export-vrml openhrp-collision-detector openhrp-jython-prompt openhrp-path-planner openhrp-ut-dynamics-simulator)
execute_process(
COMMAND cmake -E rename ${CATKIN_DEVEL_PREFIX}/bin/${openhrp3_program} ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME}/${openhrp3_program}
RESULT_VARIABLE _make_failed)
message("move binary files ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME}/${openhrp3_program}")
if (_make_failed)
message(FATAL_ERROR "Move openhrp3/bin failed: ${_make_failed}")
endif(_make_failed)
endforeach()
# fix openhrp3.pkg
message("sed -i s@\${prefix}/share@${PROJECT_SOURCE_DIR}/share@g ${CATKIN_DEVEL_PREFIX}/lib/pkgconfig/openhrp3.1.pc")
execute_process(
COMMAND sed -i s@\${prefix}/share@${PROJECT_SOURCE_DIR}/share@g ${CATKIN_DEVEL_PREFIX}/lib/pkgconfig/openhrp3.1.pc
OUTPUT_VARIABLE _sed_output
RESULT_VARIABLE _sed_failed)
if (_sed_failed)
message(FATAL_ERROR "sed ${CATKIN_DEVEL_PREFIX}/lib/pkgconfig/openhrp3.1.pc failed: ${_make_failed}")
endif(_sed_failed)
# move share directory
if(NOT EXISTS ${PROJECT_SOURCE_DIR}/share/OpenHRP-3.1/)
execute_process(
COMMAND cmake -E make_directory ${PROJECT_SOURCE_DIR}/share/OpenHRP-3.1/
RESULT_VARIABLE _make_failed)
if (_make_failed)
message(FATAL_ERROR "make_directory ${PROJECT_SOURCE_DIR}/share/OpenHRP-3.1/ failed: ${_make_failed}")
endif(_make_failed)
execute_process(
COMMAND cmake -E rename ${CATKIN_DEVEL_PREFIX}/share/OpenHRP-3.1/ ${PROJECT_SOURCE_DIR}/share/OpenHRP-3.1/
RESULT_VARIABLE _make_failed)
message("move share directory ${CATKIN_DEVEL_PREFIX}/share/OpenHRP-3.1/ ${PROJECT_SOURCE_DIR}/share/OpenHRP-3.1/")
if (_make_failed)
message(FATAL_ERROR "Move share/OpenHRP-3.1 failed: ${_make_failed}")
endif(_make_failed)
endif()
endif(NOT EXISTS ${CMAKE_CURRENT_BINARY_DIR}/installed)
##
## catkin package
##
catkin_package(
)
##
## install
##
install(
DIRECTORY ${CATKIN_DEVEL_PREFIX}/include/OpenHRP-3.1
DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
# use install_manifest.xml to copy files under devel to install, not to overwrite existing files (ex, openrtm-aist.pc with path modification) by copying entire directory
### -> install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME} DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}/${PROEJCT_NAME})
execute_process(
COMMAND grep ${CATKIN_DEVEL_PREFIX}/bin ${CMAKE_CURRENT_BINARY_DIR}/build/OpenHRP-3.1/install_manifest.txt
OUTPUT_VARIABLE _bin_files RESULT_VARIABLE _grep_failed)
if (_grep_failed)
message(FATAL_ERROR "grep bin ${CMAKE_CURRENT_BINARY_DIR}/build/OpenHRP-3.1/install_manifest.txt ${_make_failed}")
endif(_grep_failed)
execute_process(
COMMAND grep ${CATKIN_DEVEL_PREFIX}/lib ${CMAKE_CURRENT_BINARY_DIR}/build/OpenHRP-3.1/install_manifest.txt
OUTPUT_VARIABLE _lib_files RESULT_VARIABLE _grep_failed)
if (_grep_failed)
message(FATAL_ERROR "grep lib ${CMAKE_CURRENT_BINARY_DIR}/build/OpenHRP-3.1/install_manifest.txt ${_make_failed}")
endif(_grep_failed)
string(REGEX REPLACE "\n" ";" _bin_files ${_bin_files})
string(REGEX REPLACE "\n" ";" _lib_files ${_lib_files})
foreach(_bin_file ${_bin_files})
get_filename_component(_bin_file_name ${_bin_file} NAME)
install(PROGRAMS ${CATKIN_DEVEL_PREFIX}/lib/${PROJECT_NAME}/${_bin_file_name} DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}/${PROJECT_NAME})
endforeach()
foreach(_lib_file ${_lib_files})
get_filename_component(_lib_file_path ${_lib_file} PATH)
string(REPLACE "${CATKIN_DEVEL_PREFIX}/lib" "" _lib_file_path ${_lib_file_path})
install(FILES ${_lib_file} DESTINATION ${CATKIN_GLOBAL_LIB_DESTINATION}/${_lib_file_path})
endforeach()
## done copy libs
install(DIRECTORY test share
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
USE_SOURCE_PERMISSIONS)
install(CODE
"execute_process(COMMAND echo \"fix \$ENV{DESTDIR}/${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}/pkgconfig/openhrp3.pc ${CATKIN_DEVEL_PREFIX} -> ${CMAKE_INSTALL_PREFIX}\")
execute_process(COMMAND sed -i s@${CATKIN_DEVEL_PREFIX}@${CMAKE_INSTALL_PREFIX}@g \$ENV{DESTDIR}/${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}/pkgconfig/openhrp3.pc) # basic
")
install(CODE
"execute_process(COMMAND echo \"fix \$ENV{DESTDIR}/${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}/pkgconfig/openhrp3.pc ${CATKIN_DEVEL_PREFIX} -> ${CMAKE_INSTALL_PREFIX}\")
execute_process(COMMAND sed -i s@${CATKIN_DEVEL_PREFIX}@${CMAKE_INSTALL_PREFIX}@g \$ENV{DESTDIR}/${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}/pkgconfig/openhrp3.1.pc) #
execute_process(COMMAND sed -i s@${PROJECT_SOURCE_DIR}@${CMAKE_INSTALL_PREFIX}/share/openhrp3@g \$ENV{DESTDIR}/${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}/pkgconfig/openhrp3.1.pc) # basic
execute_process(COMMAND sed -i s@{prefix}/bin@{prefix}/lib/openhrp3@g \$ENV{DESTDIR}/${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}/pkgconfig/openhrp3.1.pc) # basic
execute_process(COMMAND sed -i s@{prefix}/share@{prefix}/share/openhrp3/share@g \$ENV{DESTDIR}/${CMAKE_INSTALL_PREFIX}/${CATKIN_PACKAGE_LIB_DESTINATION}/pkgconfig/openhrp3.1.pc) # basic
")
##
##
##
add_rostest(test/test_openhrp3.test)
add_rostest(test/test_modelloader.test)