From b612d1ba9cf83d5c08a2899945170f585f13a2a6 Mon Sep 17 00:00:00 2001
From: Kei Okada <k-okada@jsk.t.u-tokyo.ac.jp>
Date: Thu, 17 Apr 2014 09:00:25 +0900
Subject: [PATCH] (collada_tools) update files for using
 jsk_common/assimp_devel (#20)

---
 collada_tools/CMakeLists.txt          |  8 ++++++++
 collada_tools/catkin.cmake            | 14 +++++++++-----
 collada_tools/src/collada_to_urdf.cpp | 12 ++++++------
 3 files changed, 23 insertions(+), 11 deletions(-)

diff --git a/collada_tools/CMakeLists.txt b/collada_tools/CMakeLists.txt
index 5edaffbb4..00900bb58 100644
--- a/collada_tools/CMakeLists.txt
+++ b/collada_tools/CMakeLists.txt
@@ -22,6 +22,12 @@ pkg_check_modules(COLLADADOM collada15dom)
 include_directories(${COLLADADOM_INCLUDE_DIRS})
 link_directories(${COLLADADOM_LIBRARY_DIRS})
 
+rosbuild_find_ros_package(assimp_devel)
+set(ENV{PKG_CONFIG_PATH} ${assimp_devel_PACKAGE_PATH}/lib/pkgconfig:$ENV{PKG_CONFIG_PATH})
+pkg_check_modules(assimp assimp_devel REQUIRED)
+include_directories(${assimp_INCLUDE_DIRS})
+link_directories(${assimp_LIBRARY_DIRS})
+
 #set the default path for built executables to the "bin" directory
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 #set the default path for built libraries to the "lib" directory
@@ -46,3 +52,5 @@ rosbuild_add_link_flags(collada_to_graphviz -Wl,--no-as-needed )
 rosbuild_add_executable(collada_to_urdf src/collada_to_urdf.cpp)
 rosbuild_link_boost(collada_to_urdf filesystem program_options)
 rosbuild_add_link_flags(collada_to_urdf -Wl,--no-as-needed )
+target_link_libraries(collada_to_urdf ${assimp_LIBRARIES})
+
diff --git a/collada_tools/catkin.cmake b/collada_tools/catkin.cmake
index 772fcc2d5..931fceb72 100644
--- a/collada_tools/catkin.cmake
+++ b/collada_tools/catkin.cmake
@@ -2,9 +2,9 @@ cmake_minimum_required(VERSION 2.8.3)
 project(collada_tools)
 
 if($ENV{ROS_DISTRO} STREQUAL "groovy")
-  find_package(catkin REQUIRED COMPONENTS roscpp urdf_parser assimp_devel urdf collada_parser)
+  find_package(catkin REQUIRED COMPONENTS roscpp urdf_parser urdf collada_parser)
 else()
-  find_package(catkin REQUIRED COMPONENTS roscpp urdf_parser_plugin assimp_devel urdf collada_parser)
+  find_package(catkin REQUIRED COMPONENTS roscpp urdf_parser_plugin urdf collada_parser)
 endif()
 find_package(Boost REQUIRED COMPONENTS filesystem program_options)
 
@@ -14,13 +14,17 @@ pkg_check_modules(COLLADADOM collada-dom-150)
 include_directories(${COLLADADOM_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 link_directories(${COLLADADOM_LIBRARY_DIRS})
 
+pkg_check_modules(assimp_devel assimp_devel REQUIRED)
+include_directories(${assimp_devel_INCLUDE_DIRS})
+link_directories(${assimp_devel_LIBRARY_DIRS})
+
+
 # check_function_exists(mkstemps HAVE_MKSTEMPS)
 # if( HAVE_MKSTEMPS )
 #   add_definitions("-DHAVE_MKSTEMPS")
 # endif()
 
 catkin_package(
-  CATKIN_DEPENDS assimp_devel
   )
 
 set(SOURCE_FILES
@@ -41,8 +45,8 @@ add_dependencies(collada_to_graphviz libassimp)
 
 add_executable(collada_to_urdf src/collada_to_urdf.cpp)
 set_target_properties(collada_to_urdf PROPERTIES LINK_FLAGS "-Wl,--no-as-needed")
-target_link_libraries(collada_to_urdf ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-add_dependencies(collada_to_urdf libassimp)
+target_link_libraries(collada_to_urdf ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${assimp_devel_LIBRARIES})
+add_dependencies(collada_to_urdf libassimp_devel)
 
 install(TARGETS collada_to_urdf collada_to_graphviz collada_gazebo_gen
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
diff --git a/collada_tools/src/collada_to_urdf.cpp b/collada_tools/src/collada_to_urdf.cpp
index ae45d5945..975cef5c5 100644
--- a/collada_tools/src/collada_to_urdf.cpp
+++ b/collada_tools/src/collada_to_urdf.cpp
@@ -5,12 +5,12 @@
 #include "urdf_parser/urdf_parser.h"
 
 // assimp 3 (assimp_devel)
-#include <assimp/IOSystem.hpp>
-#include <assimp/IOStream.hpp>
-#include <assimp/Importer.hpp>
-#include <assimp/Exporter.hpp>
-#include <assimp/postprocess.h>
-#include <assimp/scene.h>
+#include <IOSystem.hpp>
+#include <IOStream.hpp>
+#include <Importer.hpp>
+#include <Exporter.hpp>
+#include <postprocess.h>
+#include <scene.h>
 
 #include <iostream>
 #include <fstream>