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[DO NOT MERGE THIS AS IT IS] Enable to compile libfranka 0.15.0 on melodic #6

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[DO NOT MERGE THIS AS IT IS] Enable to compile libfranka 0.15.0 on melodic #6

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21 changes: 12 additions & 9 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.11)
cmake_minimum_required(VERSION 3.10)

list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")

Expand Down Expand Up @@ -76,6 +76,7 @@ endif()
include(FetchFMT)

## Submodules
add_library(libfranka-common INTERFACE) # https://stackoverflow.com/questions/34443128/cmake-install-targets-in-subdirectories
add_subdirectory(common)

## Library
Expand Down Expand Up @@ -137,7 +138,7 @@ 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 @@ -154,16 +155,15 @@ 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 @@ -191,12 +191,15 @@ 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.
set(FRANKA_IS_FOUND TRUE)

option(BUILD_TESTS "Build tests" ON)
option(BUILD_TESTS "Build tests" OFF)
if(BUILD_TESTS)
enable_testing()
add_subdirectory(test)
Expand Down
2 changes: 1 addition & 1 deletion common/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
cmake_minimum_required(VERSION 3.0.2)

add_library(libfranka-common INTERFACE)
# add_library(libfranka-common INTERFACE) # https://stackoverflow.com/questions/34443128/cmake-install-targets-in-subdirectories
target_include_directories(libfranka-common INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
Expand Down
9 changes: 4 additions & 5 deletions examples/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -66,11 +66,10 @@ 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
)

# Further examples
add_subdirectory(utility_examples)
# # Further examples
# add_subdirectory(utility_examples)