[cmake] Export CMake Files.

CMakeLists.txt

@@ -22,7 +22,10 @@ add_required_dependency("urdfdom")
 
 SET(CATKIN_REQUIRED_COMPONENTS
   pal_hardware_interfaces
-  controller_interface  
+  temperature_sensor_controller
+  controller_interface
+  controller_manager
+  pal_common_msgs
   roscpp
   std_msgs
   dynamic_graph_bridge
@@ -52,6 +55,8 @@ include_directories(include tests ${bullet_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 
 link_directories(${bullet_LIBRARY_DIRS})
 
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+
 SETUP_PROJECT()
 
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR}/bin)
@@ -61,33 +66,36 @@ set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${LIBRARY_OUTPUT_PATH}")
 
 # Add dependency through jrl-cmakemodules to compile
 # this code without catkin_make
-add_required_dependency("pal_hardware_interfaces")
-add_optional_dependency("temperature_sensor_controller")
-add_required_dependency(roscpp)
-add_required_dependency("realtime_tools >= 1.8")
-add_required_dependency("dynamic_graph_bridge")
-add_required_dependency("controller_interface")
-add_required_dependency("controller_manager")
-add_required_dependency("pal_common_msgs")
-add_required_dependency("dynamic-graph")
-add_required_dependency("dynamic-graph-python")
-add_required_dependency("sot-core")
+#add_project_dependency(dynamic_graph_bridge REQUIRED)
+add_project_dependency(dynamic-graph REQUIRED)
+add_project_dependency(dynamic-graph-python REQUIRED)
+add_project_dependency(sot-core REQUIRED)
 add_required_dependency("pinocchio")
 
+
+
 # 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
-  roscpp realtime_tools message_runtime dynamic_graph_bridge
-  pal_hardware_interfaces controller_interface controller_manager
+  roscpp
+  realtime_tools
+  message_runtime
+  dynamic_graph_bridge
+  pal_hardware_interfaces
+  controller_interface controller_manager
 LIBRARIES ${CATKIN_DEPENDS_LIBRARIES} )
 
 # Detect the controller interface version to switch code
-if(CONTROLLER_INTERFACE_FOUND)
-  if (${CONTROLLER_INTERFACE_VERSION} VERSION_GREATER "0.2.5")
+if(controller_interface_FOUND)
+  if (${controller_interface_VERSION} VERSION_GREATER "0.2.5")
     add_definitions(-DCONTROLLER_INTERFACE_KINETIC)
-  endif(${CONTROLLER_INTERFACE_VERSION} VERSION_GREATER "0.2.5")
-endif(CONTROLLER_INTERFACE_FOUND)
+  endif(${controller_interface_VERSION} VERSION_GREATER "0.2.5")
+endif(controller_interface_FOUND)
 
+LIST(APPEND LOGGING_WATCHED_VARIABLES
+  CONTROLLER_INTERFACE_FOUND
+  CONTROLLER_INTERFACE_VERSION )
+  
 # Detect if temperature sensor controller package is found
 # if yes then it is a PARL Robotics Forked code.
 if(TEMPERATURE_SENSOR_CONTROLLER_FOUND)
@@ -123,10 +131,9 @@ target_link_libraries(rcsot_controller
   ${bullet_LIBRARIES}
   )
 
-pkg_config_use_dependency(rcsot_controller urdfdom optional
-  NO_INCLUDE_SYSTEM)
-pkg_config_use_dependency(rcsot_controller dynamic-graph optional
-  NO_INCLUDE_SYSTEM)
+#target_link_libraries(rcsot_controller urdfdom optional
+#  NO_INCLUDE_SYSTEM)
+target_link_libraries(rcsot_controller dynamic-graph::dynamic-graph)
 
 ## Mark executables and/or libraries for installation
 install(TARGETS rcsot_controller DESTINATION lib )
@@ -144,4 +151,13 @@ endforeach()
 
 ADD_SUBDIRECTORY(tests)
 
+get_cmake_property(_variableNames VARIABLES)
+list (SORT _variableNames)
+foreach (_variableName ${_variableNames})
+  LIST(APPEND LOGGING_WATCHED_VARIABLES
+    ${_variableName}
+    )
+endforeach()
+
 SETUP_PROJECT_FINALIZE()
+

tests/CMakeLists.txt

@@ -20,9 +20,6 @@ file(MAKE_DIRECTORY
   ${LIBRARY_OUTPUT_PATH}/dynamic_graph/sot/test/sot_test_device)
 
 
-pkg_config_use_dependency(roscontrol_sot_hardware controller_manager
-  NO_INCLUDE_SYSTEM)
-
 target_link_libraries(roscontrol_sot_hardware
   ${catkin_LIBRARIES}
   ${bullet_libraries}
@@ -41,11 +38,12 @@ MACRO(build_test_device)
   #set_target_properties(${DEVICE_NAME} PROPERTIES PREFIX "")
 
   # Link the dynamic library containing the SoT with its dependencies.
-  PKG_CONFIG_USE_DEPENDENCY(${DEVICE_NAME} "dynamic-graph")
-  PKG_CONFIG_USE_DEPENDENCY(${DEVICE_NAME} "dynamic-graph-python")
-  PKG_CONFIG_USE_DEPENDENCY(${DEVICE_NAME} "sot-core")
-  PKG_CONFIG_USE_DEPENDENCY(${DEVICE_NAME} "pinocchio")
-  PKG_CONFIG_USE_DEPENDENCY(${DEVICE_NAME} "dynamic_graph_bridge")
+  target_link_libraries(${DEVICE_NAME} dynamic-graph::dynamic-graph)
+  target_link_libraries(${DEVICE_NAME}
+    dynamic-graph-python::dynamic-graph-python)
+  target_link_libraries(${DEVICE_NAME} sot-core::sot-core)
+  PKG_CONFIG_USE_DEPENDENCY(${DEVICE_NAME} pinocchio)
+#  target_link_libraries(${DEVICE_NAME}  dynamic_graph_bridge ros_bridge ros_inter)
 
   IF(UNIX AND NOT APPLE)
     TARGET_LINK_LIBRARIES(${DEVICE_NAME} ${Boost_LIBRARIES})
@@ -80,17 +78,20 @@ MACRO(build_test_controller)
   #set_target_properties(${CONTROLLER_NAME} PROPERTIES PREFIX "")
 
   # Link the dynamic library containing the SoT with its dependencies.
-  PKG_CONFIG_USE_DEPENDENCY(${CONTROLLER_NAME} "dynamic-graph")
-  PKG_CONFIG_USE_DEPENDENCY(${CONTROLLER_NAME} "dynamic-graph-python")
-  PKG_CONFIG_USE_DEPENDENCY(${CONTROLLER_NAME} "sot-core")
+  target_link_libraries(${CONTROLLER_NAME}
+    dynamic-graph::dynamic-graph)
+  target_link_libraries(${CONTROLLER_NAME}
+    dynamic-graph-python::dynamic-graph-python)
+  target_link_libraries(${CONTROLLER_NAME}
+    sot-core::sot-core)
   PKG_CONFIG_USE_DEPENDENCY(${CONTROLLER_NAME} "pinocchio")
 
-  PKG_CONFIG_USE_DEPENDENCY(${CONTROLLER_NAME} "dynamic_graph_bridge")
+  #target_link_libraries(${CONTROLLER_NAME} dynamic_graph_bridge)
 
   ADD_DEPENDENCIES(${CONTROLLER_NAME} sot-test-device)
-  TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} "ros_bridge")
-  TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} "ros_interpreter")
-  TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} "sot-test-device")
+  #TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} ros_bridge)
+  #TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} ros_interpreter)
+  TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} sot-test-device)
  
   IF(UNIX AND NOT APPLE)
     TARGET_LINK_LIBRARIES(${CONTROLLER_NAME} ${Boost_LIBRARIES})