V2

CMakeLists.txt

@@ -33,7 +33,7 @@ set (CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/bin)
 
 add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/ambf_control_system)
 add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/rbdl_model)
-#add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/rbdl_model_tests)
+add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/rbdl_model_tests)
 add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/rbdl_server)
 # add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/rbdl_model_test)
 # add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/trajectory_generator)

cmake/ambf_clientConfig.cmake

@@ -1,30 +1,223 @@
-SET (AMBF_CLIENT_FOUND FALSE)
-
-
-UNSET( AMBF_CLIENT_INCLUDE_DIR              CACHE)   
-UNSET( AMBF_CLIENT_LIBRARY                  CACHE)  
-
-FIND_PATH (AMBF_CLIENT_INCLUDE_DIR ambf_client/ambf_client.h
-HINTS
-/localcodebase/ambfnags92/ambf/ambf_controller/ambf_client/
-/usr/local/include
-/usr/include
-)
-
-FIND_LIBRARY (AMBF_CLIENT_LIBRARY ambf_client
-PATHS
-/localcodebase/ambfnags92/ambf/build/devel/lib
-)
-
-IF (AMBF_CLIENT_INCLUDE_DIR AND AMBF_CLIENT_LIBRARY)
-  SET (AMBF_CLIENT_FOUND TRUE)
-ELSE(AMBF_CLIENT_INCLUDE_DIR AND AMBF_CLIENT_LIBRARY)   
-  SET (AMBF_CLIENT_FOUND FALSE) 
-  MESSAGE (SEND_ERROR " Could not find AMBF_CLIENT.")
-ENDIF (RBDL_INCLUDE_DIR AND RBDL_LIBRARY)
-
-IF (AMBF_CLIENT_FOUND)
-    MESSAGE(STATUS "Found AMBF: ${AMBF_CLIENT_LIBRARY}")
-ELSE(AMBF_CLIENT_FOUND)
-    MESSAGE(STATUS " NOt Found AMBF")
-ENDIF (RBDL_FOUND)
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(ambf_client_CONFIG_INCLUDED)
+  return()
+endif()
+set(ambf_client_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("TRUE" STREQUAL "TRUE")
+  set(ambf_client_SOURCE_PREFIX /mnt/OneTB/localcodebase/ambf_repos/ambfvtwodotzero/ambf/ambf_ros_modules/ambf_client)
+  set(ambf_client_DEVEL_PREFIX /mnt/OneTB/localcodebase/ambf_repos/ambfvtwodotzero/ambf/build/devel)
+  set(ambf_client_INSTALL_PREFIX "")
+  set(ambf_client_PREFIX ${ambf_client_DEVEL_PREFIX})
+else()
+  set(ambf_client_SOURCE_PREFIX "")
+  set(ambf_client_DEVEL_PREFIX "")
+  set(ambf_client_INSTALL_PREFIX /usr/local)
+  set(ambf_client_PREFIX ${ambf_client_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'ambf_client' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(ambf_client_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "/mnt/OneTB/localcodebase/ambf_repos/ambfvtwodotzero/ambf/ambf_ros_modules/ambf_client/include " STREQUAL " ")
+  set(ambf_client_INCLUDE_DIRS "")
+  set(_include_dirs "/mnt/OneTB/localcodebase/ambf_repos/ambfvtwodotzero/ambf/ambf_ros_modules/ambf_client/include")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'Shreyas Chandra Sekhar <[email protected]>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${ambf_client_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'ambf_client' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'ambf_client' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/mnt/OneTB/localcodebase/ambf_repos/ambfvtwodotzero/ambf/ambf_ros_modules/ambf_client/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(ambf_client_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "ambf_client_cpp")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND ambf_client_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND ambf_client_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT ambf_client_NUM_DUMMY_TARGETS)
+      set(ambf_client_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::ambf_client::wrapped-linker-option${ambf_client_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR ambf_client_NUM_DUMMY_TARGETS "${ambf_client_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::ambf_client::wrapped-linker-option${ambf_client_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND ambf_client_LIBRARIES "${interface_target_name}")
+  elseif(TARGET ${library})
+    list(APPEND ambf_client_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND ambf_client_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /mnt/OneTB/localcodebase/ambf_repos/ambfvtwodotzero/ambf/build/devel/lib;/mnt/OneTB/localcodebase/ambf_repos/aimlab/ambf/build/devel/lib;/opt/ros/melodic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(ambf_client_LIBRARY_DIRS ${lib_path})
+      list(APPEND ambf_client_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'ambf_client'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND ambf_client_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(ambf_client_EXPORTED_TARGETS "")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${ambf_client_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "ambf_msgs;message_runtime")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 ambf_client_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${ambf_client_dep}_FOUND)
+      find_package(${ambf_client_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${ambf_client_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(ambf_client_INCLUDE_DIRS ${${ambf_client_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(ambf_client_LIBRARIES ${ambf_client_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${ambf_client_dep}_LIBRARIES})
+  _list_append_deduplicate(ambf_client_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(ambf_client_LIBRARIES ${ambf_client_LIBRARIES})
+
+  _list_append_unique(ambf_client_LIBRARY_DIRS ${${ambf_client_dep}_LIBRARY_DIRS})
+  list(APPEND ambf_client_EXPORTED_TARGETS ${${ambf_client_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${ambf_client_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()