Issue turtlebot#12: Regenerate turtlebot_arm_ikfast_plugin

turtlebot_arm_ikfast_plugin/CMakeLists.txt

@@ -1,56 +1,40 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 2.8.12)
 project(turtlebot_arm_ikfast_plugin)
 
-add_definitions(-std=c++11)
+add_compile_options(-std=c++11)
 
 find_package(catkin REQUIRED COMPONENTS
-  cmake_modules
   moveit_core
   pluginlib
   roscpp
   tf_conversions
-  )
-find_package(Boost REQUIRED)
-find_package(Eigen REQUIRED)
+)
+
+include_directories(${catkin_INCLUDE_DIRS})
 
 catkin_package(
   LIBRARIES
-  DEPENDS
-  moveit_core
-  pluginlib
-  roscpp
-  tf_conversions
-  )
+  CATKIN_DEPENDS
+    moveit_core
+    pluginlib
+    roscpp
+    tf_conversions
+)
 
-include_directories(${catkin_INCLUDE_DIRS})
-include_directories(${Eigen_INCLUDE_DIRS})
 include_directories(include)
 
-link_directories(${catkin_LIBRARY_DIRS})
+set(IKFAST_LIBRARY_NAME turtlebot_arm_arm_moveit_ikfast_plugin)
 
-set(MOVEIT_LIB_NAME turtlebot_arm_moveit_ikfast_kinematics_plugin)
+find_package(LAPACK REQUIRED)
 
-add_library(${MOVEIT_LIB_NAME} src/turtlebot_arm_arm_ikfast_moveit_plugin.cpp)
-target_link_libraries(${MOVEIT_LIB_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+add_library(${IKFAST_LIBRARY_NAME} src/turtlebot_arm_arm_ikfast_moveit_plugin.cpp)
+target_link_libraries(${IKFAST_LIBRARY_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${LAPACK_LIBRARIES})
 
-install(TARGETS ${MOVEIT_LIB_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
-install(DIRECTORY include/ DESTINATION include)
+install(TARGETS ${IKFAST_LIBRARY_NAME} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
 
-install(FILES turtlebot_arm_moveit_ikfast_plugin_description.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+install(
+  FILES
+  turtlebot_arm_moveit_ikfast_plugin_description.xml
+  DESTINATION
+  ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
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