Install all the generated models

CMakeLists.txt

@@ -6,16 +6,28 @@ cmake_minimum_required(VERSION 2.8.9)
 
 project(icub-models)
 
-# Install meshes 
-install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/iCub/meshes/simmechanics DESTINATION share/iCub/meshes)
+macro(SUBDIRLIST result curdir)
+  file(GLOB children RELATIVE ${curdir} ${curdir}/*)
+  set(dirlist "")
+  foreach(child ${children})
+    if(IS_DIRECTORY ${curdir}/${child})
+      list(APPEND dirlist ${child})
+    endif()
+  endforeach()
+  set(${result} ${dirlist})
+endmacro()
 
-# Install robots URDF files 
-set(ROBOTS_TO_INSTALL "")
-list(APPEND ROBOTS_TO_INSTALL "iCubGenova04")
+# Copy the iCub folder in the build tree
+file(COPY ${CMAKE_SOURCE_DIR}/iCub DESTINATION ${CMAKE_BINARY_DIR})
 
-foreach (robot ${ROBOTS_TO_INSTALL})
-  install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/iCub/robots/${robot}/model.urdf DESTINATION share/iCub/robots/${robot})
-endforeach ()
+# Generate and move in the build tree the model.config for each robot
+SUBDIRLIST(ROBOTS_NAMES ${CMAKE_BINARY_DIR}/iCub/robots)
+foreach (ROBOT_DIRNAME ${ROBOTS_NAMES})
+  set(ROBOT_NAME ${ROBOT_DIRNAME})
+  configure_file(${CMAKE_SOURCE_DIR}/model.config.in
+                 ${CMAKE_BINARY_DIR}/iCub/robots/${ROBOT_NAME}/model.config
+                 @ONLY)
+endforeach()
 
-# Install package.xml for ROS compatibility 
-install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/iCub/package.xml DESTINATION share/iCub)
+# Install the whole iCub directory
+install(DIRECTORY ${CMAKE_BINARY_DIR}/iCub DESTINATION share)

README.md

@@ -1,39 +1,49 @@
 # icub-models
-Repository containing models generated by https://github.com/robotology-playground/icub-model-generator . 
 
-## Usage 
+Repository containing models generated by https://github.com/robotology-playground/icub-model-generator .
+
+## Usage
+
 The model in the repo can be used either directly from the repo, or by installing them.
-While the files can be used directly by pointing your software to their location, they are 
-tipically used by software that uses either YARP or ROS. For this reason, the models 
-are installed as part of the `iCub` ROS package following the instructions in 
-https://github.com/gerkey/ros1_external_use#installing-for-use-by-tools-like-roslaunch 
+While the files can be used directly by pointing your software to their location, they are
+tipically used by software that uses either YARP or ROS. For this reason, the models
+are installed as part of the `iCub` ROS package following the instructions in
+https://github.com/gerkey/ros1_external_use#installing-for-use-by-tools-like-roslaunch
 and following the YARP guidelines on installing configuration files in http://www.yarp.it/yarp_data_dirs.html .
-To make sure that this models are found by the software even when they are not installed in 
-system directories, tipically the [`YARP_DATA_DIRS`](http://www.yarp.it/yarp_data_dirs.html) and the 
-[`ROS_PACKAGE_PATH`](http://wiki.ros.org/ROS/EnvironmentVariables#ROS_PACKAGE_PATH) enviromental variables are modified appropriatly. 
+To make sure that this models are found by the software even when they are not installed in
+system directories, tipically the [`YARP_DATA_DIRS`](http://www.yarp.it/yarp_data_dirs.html) and the
+[`ROS_PACKAGE_PATH`](http://wiki.ros.org/ROS/EnvironmentVariables#ROS_PACKAGE_PATH) enviromental variables are modified appropriatly.
 
 
 ### From the source repo
-In case the models are used from the repo, if <icub-models> is the location of the repo, then 
-<icub-models>/iCub needs to be appened to the YARP_DATA_DIRS env variable and <icub-models> needs to be appended
-to ROS_PACKAGE_PATH env variable. On *nix system, this can be achived by adding to the `.bashrc` or equivalent 
-file the following two lines:
-~~~
-export YARP_DATA_DIRS=${YARP_DATA_DIRS}:<icub-models>/iCub 
-export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:<icub-models> 
-~~~
-
-### By installing the models 
-To install the models, you must use `CMake`. 
-The installation can be performed by the following commands:
-~~~
+
+In the case models are used from the repo, the first step is configure it with the following commands:
+
+```
 mkdir build
 cd build
+cmake ..
+```
+
+If `<icub-models>` is the location of the repo, then `<icub-models>/build/iCub` needs to be appened to the `YARP_DATA_DIRS` env variable and `<icub-models>/build` needs to be appended to `ROS_PACKAGE_PATH` env variable. On *nix system, this can be achived by adding to the `.bashrc` or equivalent file the following two lines:
+
+```
+export YARP_DATA_DIRS=${YARP_DATA_DIRS}:<icub-models>/build/iCub
+export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:<icub-models>/build/
+```
+
+### By installing the models
+
+To install the models, from the `build` directory execute:
+
+```
 cmake -DCMAKE_INSTALL_PREFIX=<prefix> ..
-cmake --build . --target install 
-~~~
+cmake --build . --target install
+```
+
 Once you installed to a given prefix, you can modify the `YARP_DATA_DIRS` and `ROS_PACKAGE_PATH` enviromental variables as in the following:
-~~~
-export YARP_DATA_DIRS=${YARP_DATA_DIRS}:<prefix>/share/iCub 
-export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:<prefix> 
-~~~
+
+```
+export YARP_DATA_DIRS=${YARP_DATA_DIRS}:<prefix>/share/iCub
+export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:<prefix>
+```