Comment test

Reorganize CMakeLists.txt for compiling with CMake export.
TODO: Fix the fact that the installation is not properly
done even when specifying PYTHON_STANDARD_LAYOUT.

CMakeLists.txt

@@ -8,21 +8,40 @@ set(CXX_DISABLE_WERROR True)
 
 set(WARNING_CXX_FLAGS "${WARNING_CXX_FLAGS} -Werror=format-security")
 
+SET(PROJECT_ORG stack-of-tasks)
+set(PROJECT_DESCRIPTION "roscontrol_sot")
+set(PROJECT_NAME roscontrol_sot)
+set(PROJECT_URL "https://github.com/stack-of-tasks/roscontrol_sot")
+
+# Export CMake Target
+SET(PROJECT_USE_CMAKE_EXPORT TRUE)
+
+# Disable failing compilation when a compilation error appears
+set(CXX_DISABLE_WERROR False)
+
 include(cmake/base.cmake)
+
+# Specify the project.
+cmake_policy(SET CMP0048 NEW)
+PROJECT(${PROJECT_NAME}
+  LANGUAGES
+  CXX
+  VERSION
+  ${PROJECT_VERSION_MAJOR}.${PROJECT_VERSION_MINOR}.${PROJECT_VERSION_PATCH}
+  )
+
 include(cmake/ros.cmake)
 include(cmake/GNUInstallDirs.cmake)
 include(cmake/python.cmake)
 
-project(roscontrol_sot)
-
 find_package(PkgConfig REQUIRED)
 
 add_required_dependency(bullet)
 add_required_dependency("urdfdom")
 
 SET(CATKIN_REQUIRED_COMPONENTS
+  temperature_sensor_controller  
   pal_hardware_interfaces
-  temperature_sensor_controller
   controller_interface
   controller_manager
   pal_common_msgs
@@ -51,14 +70,12 @@ set(PROJECT_NAME roscontrol_sot)
 set(PROJECT_URL "https://github.com/stack-of-tasks/roscontrol_sot")
 
 
-include_directories(include tests ${bullet_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
+include_directories(include tests ${catkin_INCLUDE_DIRS} ${bullet_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)
 set(LIBRARY_OUTPUT_PATH ${PROJECT_BINARY_DIR}/lib)
 set(CMAKE_INSTALL_RPATH "${LIBRARY_OUTPUT_PATH}")
@@ -67,22 +84,21 @@ set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${LIBRARY_OUTPUT_PATH}")
 # Add dependency through jrl-cmakemodules to compile
 # this code without catkin_make
 #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")
-
-
+add_project_dependency(dynamic-graph REQUIRED )
+add_project_dependency(dynamic-graph-python REQUIRED )
+add_project_dependency(sot-core REQUIRED )
+add_required_dependency("pinocchio" REQUIRED)
 
 # 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
+  temperature_sensor_controller
+  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
@@ -92,16 +108,17 @@ if(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)
+if(temperature_sensor_controller_FOUND)
   add_definitions(-DTEMPERATURE_SENSOR_CONTROLLER)
-endif(TEMPERATURE_SENSOR_CONTROLLER_FOUND)
+endif(temperature_sensor_controller_FOUND)
 
+LIST(APPEND LOGGING_WATCHED_VARIABLES
+  TEMPERATURE_SENSOR_CONTROLLER_FOUND
+  CONTROLLER_INTERFACE_FOUND
+  CONTROLLER_INTERFACE_VERSION )
+  
 
 ###########
 ## Build ##
@@ -120,6 +137,7 @@ src/roscontrol-sot-controller.cpp
 src/log.cpp
 )
 
+pkg_config_use_dependency(rcsot_controller pinocchio NO_INCLUDE_SYSTEM)
 ## Add cmake target dependencies of the executable
 ## same as for the library above
 # add_dependencies(roscontrol_sot_node ${${PROJECT_NAME}_EXPORTED_TARGETS}
@@ -136,11 +154,15 @@ target_link_libraries(rcsot_controller
 target_link_libraries(rcsot_controller dynamic-graph::dynamic-graph)
 
 ## Mark executables and/or libraries for installation
-install(TARGETS rcsot_controller DESTINATION lib )
+install(TARGETS rcsot_controller
+  EXPORT ${TARGETS_EXPORT_NAME}    
+  DESTINATION lib )
 
 ADD_EXECUTABLE(roscontrol-sot-parse-log
   src/roscontrol-sot-parse-log.cc)
-install(TARGETS roscontrol-sot-parse-log DESTINATION bin )
+install(TARGETS roscontrol-sot-parse-log
+  EXPORT ${TARGETS_EXPORT_NAME}    
+  DESTINATION bin )
 
 foreach(dir config launch)
   install(DIRECTORY ${dir}
@@ -149,7 +171,7 @@ foreach(dir config launch)
 endforeach()
 
 
-ADD_SUBDIRECTORY(tests)
+#ADD_SUBDIRECTORY(tests)
 
 get_cmake_property(_variableNames VARIABLES)
 list (SORT _variableNames)
@@ -161,3 +183,8 @@ endforeach()
 
 SETUP_PROJECT_FINALIZE()
 
+get_cmake_property(_variableNames VARIABLES)
+list (SORT _variableNames)
+foreach (_variableName ${_variableNames})
+    message(STATUS "${_variableName}=${${_variableName}}")
+endforeach()