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[DO NOT MERGE THIS AS IT IS] Enable to compile libfranka 0.14 on noetic #5

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[DO NOT MERGE THIS AS IT IS] Enable to compile libfranka 0.14 on noetic #5

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16 changes: 9 additions & 7 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -119,7 +119,7 @@ endif()

target_include_directories(franka PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
$<INSTALL_INTERFACE:include/libfranka>
)

target_link_libraries(franka PRIVATE
Expand All @@ -135,16 +135,15 @@ target_link_libraries(franka PUBLIC
)

## Installation
include(GNUInstallDirs)
set(INSTALL_CMAKE_CONFIG_DIR ${CMAKE_INSTALL_LIBDIR}/cmake/Franka)
set(INSTALL_CMAKE_CONFIG_DIR share/franka/cmake)

install(TARGETS franka libfranka-common
EXPORT FrankaTargets
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/libfranka
ARCHIVE DESTINATION lib
)
install(DIRECTORY include/ common/include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
install(DIRECTORY include/ common/include/ DESTINATION include/libfranka
USE_SOURCE_PERMISSIONS
)

Expand Down Expand Up @@ -172,6 +171,9 @@ install(EXPORT FrankaTargets
DESTINATION ${INSTALL_CMAKE_CONFIG_DIR}
)

# Install catkin package.xml
install(FILES package.xml DESTINATION share/libfranka)

## Subprojects

# Ignore find_package(Franka) in subprojects.
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5 changes: 2 additions & 3 deletions examples/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -63,8 +63,7 @@ target_link_libraries(joint_impedance_control Threads::Threads pinocchio::pinocc
target_link_libraries(motion_with_control Poco::Foundation)
target_link_libraries(motion_with_control_external_control_loop Poco::Foundation)

include(GNUInstallDirs)
install(TARGETS ${EXAMPLES}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/libfranka
)
2 changes: 2 additions & 0 deletions package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -18,8 +18,10 @@

<build_depend>eigen</build_depend>
<build_depend>libpoco-dev</build_depend>
<build_depend>pinocchio</build_depend>

<exec_depend>libpoco-dev</exec_depend>
<exec_depend>pinocchio</exec_depend>

<doc_depend>doxygen</doc_depend>
<doc_depend>graphviz</doc_depend>
Expand Down