Merge branch 'master' into devel

CMakeLists.txt

@@ -35,8 +35,8 @@ PROJECT(${PROJECT_NAME} ${PROJECT_ARGS})
 CHECK_MINIMAL_CXX_STANDARD(11 ENFORCE)
 
 # Project dependencies
-ADD_PROJECT_DEPENDENCY(dynamic-graph REQUIRED PKG_CONFIG_REQUIRES dynamic-graph)
-ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED PKG_CONFIG_REQUIRES pinocchio)
+ADD_PROJECT_DEPENDENCY(dynamic-graph REQUIRED)
+ADD_PROJECT_DEPENDENCY(pinocchio REQUIRED)
 ADD_PROJECT_DEPENDENCY(Boost REQUIRED COMPONENTS regex)
 IF(BUILD_TESTING)
   ADD_PROJECT_DEPENDENCY(example-robot-data)
@@ -52,9 +52,8 @@ ENDIF()
 IF(BUILD_PYTHON_INTERFACE)
   FINDPYTHON()
   STRING(REGEX REPLACE "-" "_" PYTHON_DIR ${CUSTOM_HEADER_DIR})
-  ADD_PROJECT_DEPENDENCY(dynamic-graph-python 4.0.0 REQUIRED
-    PKG_CONFIG_REQUIRES dynamic-graph-python)
-  ADD_PROJECT_DEPENDENCY(eigenpy REQUIRED PKG_CONFIG_REQUIRES eigenpy)
+  ADD_PROJECT_DEPENDENCY(dynamic-graph-python 4.0.0 REQUIRED)
+  ADD_PROJECT_DEPENDENCY(eigenpy REQUIRED)
   SEARCH_FOR_BOOST_PYTHON(REQUIRED)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
@@ -196,7 +195,6 @@ IF(BUILD_TESTING)
 ENDIF(BUILD_TESTING)
 ADD_SUBDIRECTORY(doc)
 
-PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
 IF(NOT INSTALL_PYTHON_INTERFACE_ONLY)
   INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
 ENDIF(NOT INSTALL_PYTHON_INTERFACE_ONLY)

cmake @ 7e797cbc

-Subproject commit 7febe8d72c61b48ebf0af7731ffa802f2e7a33fa
+Subproject commit 7e797cbcae0947acce802c0bc63765a2b7c75828

package.xml

 <?xml version="1.0"?>
 <package format="3">
   <name>sot-core</name>
-  <version>4.11.4</version>
+  <version>4.11.5</version>
   <description>
     Hierarchical task solver plug-in for dynamic-graph
   </description>

src/CMakeLists.txt

 # Copyright 2010, 2020, François Bleibel, Olivier Stasse, Guilhem Saurel, JRL, CNRS/AIST, LAAS-CNRS
 
+# ROS buildfarm uses isolated environments, in which the build rpath is used
+set(BUILD_WITH_INSTALL_RPATH TRUE)
+
 SET(plugins
   sot/sot
 
@@ -91,6 +94,7 @@ set(task-unilateral_deps task)
 FOREACH(plugin ${plugins})
   GET_FILENAME_COMPONENT(LIBRARY_NAME ${plugin} NAME)
   ADD_LIBRARY(${LIBRARY_NAME} SHARED ${plugin})
+  SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES INSTALL_RPATH $ORIGIN)
 
   IF(SUFFIX_SO_VERSION)
     SET_TARGET_PROPERTIES(${LIBRARY_NAME} PROPERTIES SOVERSION ${PROJECT_VERSION})