CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(ur_postmodern_driver)
add_definitions( -DROS_BUILD )
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  hardware_interface
  controller_manager
  actionlib
  control_msgs
  geometry_msgs
  roscpp
  sensor_msgs
  std_msgs
  trajectory_msgs
  ur_msgs
  tf
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
#  LIBRARIES ur_postmodern_driver
  CATKIN_DEPENDS hardware_interface controller_manager actionlib control_msgs geometry_msgs roscpp sensor_msgs trajectory_msgs ur_msgs
  DEPENDS ur_hardware_interface
)

###########
## Build ##
###########

# check c++11 / c++0x
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
    set(CMAKE_CXX_FLAGS "-std=c++11")
elseif(COMPILER_SUPPORTS_CXX0X)
    set(CMAKE_CXX_FLAGS "-std=c++0x")
else()
    message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler. Suggested solution: update the pkg build-essential ")
endif()

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(include 
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library

# Hardware Interface
add_library(ur_hardware_interface src/ur_hardware_interface.cpp)
target_link_libraries(ur_hardware_interface
  ${catkin_LIBRARIES}
)

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(ur_postmodern_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
set(${PROJECT_NAME}_SOURCES
    src/ur_ros_wrapper.cpp
    src/ur_driver.cpp
    src/ur_realtime_communication.cpp
    src/ur_communication.cpp
    src/robot_state.cpp
    src/robot_state_RT.cpp
    src/do_output.cpp)
add_executable(ur_postmodern_driver ${${PROJECT_NAME}_SOURCES})

## Add cmake target dependencies of the executable
## same as for the library above
 add_dependencies(ur_postmodern_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(ur_postmodern_driver
  ur_hardware_interface
  ${catkin_LIBRARIES}
 )

#############
## Install ##
#############

install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)

## Mark executables and/or libraries for installation
install(TARGETS ur_postmodern_driver ur_hardware_interface
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
)

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ur_postmodern_driver.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)