From b76383ea83bdb1c7ad797c62b871f3985d0070bd Mon Sep 17 00:00:00 2001
From: Ugo Pattacini <ugo.pattacini@iit.it>
Date: Sun, 26 Jul 2020 13:37:07 +0200
Subject: [PATCH] icub manual: fixed build

---
 CMakeLists.txt                                | 20 ++++++++++++++++++-
 .../iCubGazeboV2_5_visuomanip/model.config    |  2 +-
 model.config.in                               |  2 +-
 3 files changed, 21 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c99ae1f..1159872 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,6 +20,12 @@ endmacro()
 # Copy the iCub folder in the build tree
 file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/iCub DESTINATION ${CMAKE_CURRENT_BINARY_DIR})
 
+# Copy the iCub_manual folder in the build tree
+SUBDIRLIST(subdirs ${CMAKE_CURRENT_SOURCE_DIR}/iCub_manual)
+foreach(subdir ${subdirs})
+  file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/iCub_manual/${subdir}/ DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/iCub/${subdir})
+endforeach()
+
 # Copy the ros folder
 file(COPY ${CMAKE_CURRENT_SOURCE_DIR}/ros DESTINATION ${CMAKE_CURRENT_BINARY_DIR}/iCub)
 
@@ -44,7 +50,7 @@ list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5")
 list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5_plus")
 
 SUBDIRLIST(ROBOTS_NAMES ${CMAKE_CURRENT_BINARY_DIR}/iCub/robots)
-foreach (ROBOT_DIRNAME ${ROBOTS_NAMES})
+foreach(ROBOT_DIRNAME ${ROBOTS_NAMES})
   set(ROBOT_NAME ${ROBOT_DIRNAME})
   set(ROBOT_MODEL_CONFIG_FILE "${CMAKE_CURRENT_BINARY_DIR}/iCub/robots/${ROBOT_NAME}/model.config")
 
@@ -92,7 +98,19 @@ foreach (ROBOT_DIRNAME ${ROBOTS_NAMES})
     file(REMOVE_RECURSE ${ROBOT_FIXED_MODEL_FOLDER})
     file(REMOVE_RECURSE ${ROBOT_FEET_FIXED_MODEL_FOLDER})
   endif()
+endforeach()
 
+# Deal with manually generated models
+set(GAZEBO_SUPPORTED_MODELS "")
+list(APPEND GAZEBO_SUPPORTED_MODELS "iCubGazeboV2_5_visuomanip")
+
+SUBDIRLIST(ROBOTS_NAMES ${CMAKE_CURRENT_SOURCE_DIR}/iCub_manual/robots)
+foreach(ROBOT_NAME ${ROBOTS_NAMES})
+  if(ROBOT_NAME IN_LIST GAZEBO_SUPPORTED_MODELS)
+    configure_file(${CMAKE_CURRENT_SOURCE_DIR}/iCub_manual/robots/${ROBOT_NAME}/model.config
+                   ${CMAKE_CURRENT_BINARY_DIR}/iCub/robots/${ROBOT_NAME}/model.config
+                   @ONLY)
+  endif()
 endforeach()
 
 # Install the whole iCub directory
diff --git a/iCub_manual/robots/iCubGazeboV2_5_visuomanip/model.config b/iCub_manual/robots/iCubGazeboV2_5_visuomanip/model.config
index aeb8a44..40d758c 100644
--- a/iCub_manual/robots/iCubGazeboV2_5_visuomanip/model.config
+++ b/iCub_manual/robots/iCubGazeboV2_5_visuomanip/model.config
@@ -2,6 +2,6 @@
 <model>
     <name>iCubGazeboV2_5_visuomanip</name>
     <version>1.0</version>
-    <sdf version='1.5'>model.urdf</sdf>
+    <sdf version='@ICUB_MODELS_SDF_VERSION@'>model.urdf</sdf>
     <description>Model for the iCub humanoid robot. For more information check icub.org</description>
 </model>
diff --git a/model.config.in b/model.config.in
index 412aaaa..07c9144 100644
--- a/model.config.in
+++ b/model.config.in
@@ -2,7 +2,7 @@
 <model>
     <name>@ROBOT_NAME_CONFIG@</name>
     <version>1.0</version>
-    <sdf version='1.5'>@ROBOT_MODEL_CONFIG@</sdf>
+    <sdf version='@ICUB_MODELS_SDF_VERSION@'>@ROBOT_MODEL_CONFIG@</sdf>
     <author>
         <name>Silvio Traversaro</name>
         <email>silvio.traversaro@iit.it</email>