From 686e31f0eaf136511e674b1895d9941c6016bed4 Mon Sep 17 00:00:00 2001
From: Dave Coleman <davetcoleman@gmail.com>
Date: Fri, 10 Feb 2017 21:57:13 +0530
Subject: [PATCH] Fix gazebo catkin warning, cleanup CMakeLists

---
 gazebo_plugins/CMakeLists.txt     |  2 --
 gazebo_ros/CMakeLists.txt         | 33 +++++++++++++++----------------
 gazebo_ros_control/CMakeLists.txt | 32 ++++++++++++++++--------------
 3 files changed, 33 insertions(+), 34 deletions(-)

diff --git a/gazebo_plugins/CMakeLists.txt b/gazebo_plugins/CMakeLists.txt
index 29e14bc16..90235c249 100644
--- a/gazebo_plugins/CMakeLists.txt
+++ b/gazebo_plugins/CMakeLists.txt
@@ -75,8 +75,6 @@ link_directories(
   ${catkin_LIBRARY_DIRS}
 )
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
-
 if (NOT GAZEBO_VERSION VERSION_LESS 6.0)
   catkin_package(  INCLUDE_DIRS include LIBRARIES gazebo_ros_elevator)
 endif()
diff --git a/gazebo_ros/CMakeLists.txt b/gazebo_ros/CMakeLists.txt
index c23ee1595..66222a070 100644
--- a/gazebo_ros/CMakeLists.txt
+++ b/gazebo_ros/CMakeLists.txt
@@ -36,21 +36,20 @@ generate_dynamic_reconfigure_options(cfg/Physics.cfg)
 
 catkin_package(
   LIBRARIES
-  gazebo_ros_api_plugin
-  gazebo_ros_paths_plugin
+    gazebo_ros_api_plugin
+    gazebo_ros_paths_plugin
 
   CATKIN_DEPENDS
-  roslib
-  roscpp
-  geometry_msgs
-  std_srvs
-  tf
-  rosgraph_msgs
-  dynamic_reconfigure
-  message_generation
-  std_msgs
-  gazebo_msgs
-
+    roslib
+    roscpp
+    geometry_msgs
+    std_srvs
+    tf
+    rosgraph_msgs
+    dynamic_reconfigure
+    message_generation
+    std_msgs
+    gazebo_msgs
 
   DEPENDS
     TinyXML
@@ -62,7 +61,8 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
   ${GAZEBO_INCLUDE_DIRS}
   ${SDFormat_INCLUDE_DIRS}
-  ${TinyXML_INCLUDE_DIRS})
+  ${TinyXML_INCLUDE_DIRS}
+)
 
 link_directories(${catkin_LIBRARY_DIRS})
 
@@ -94,7 +94,7 @@ target_link_libraries(gazebo_ros_paths_plugin ${GAZEBO_LIBRARIES} ${SDFormat_LIB
 # Install Gazebo System Plugins
 install(TARGETS gazebo_ros_api_plugin gazebo_ros_paths_plugin
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  )
+)
 
 # Install Gazebo Scripts
 install(PROGRAMS scripts/gazebo
@@ -112,5 +112,4 @@ install(PROGRAMS scripts/gazebo
 # Install Gazebo launch files
 install(DIRECTORY launch/
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
-  )
-
+)
diff --git a/gazebo_ros_control/CMakeLists.txt b/gazebo_ros_control/CMakeLists.txt
index 79baf9e35..5cdad35b1 100644
--- a/gazebo_ros_control/CMakeLists.txt
+++ b/gazebo_ros_control/CMakeLists.txt
@@ -16,9 +16,11 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 # Depend on system install of Gazebo
-find_package(gazebo REQUIRED)
+find_package(GAZEBO REQUIRED)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 
+find_package(Boost REQUIRED COMPONENTS thread)
+
 catkin_package(
   CATKIN_DEPENDS
     roscpp
@@ -31,14 +33,11 @@ catkin_package(
     joint_limits_interface
     urdf
     angles
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME} default_robot_hw_sim
-  DEPENDS gazebo
-)
-
-link_directories(
-  ${GAZEBO_LIBRARY_DIRS}
-  ${catkin_LIBRARY_DIRS}
+  INCLUDE_DIRS
+    include
+  LIBRARIES
+    ${PROJECT_NAME}
+    default_robot_hw_sim
 )
 
 include_directories(include
@@ -46,9 +45,13 @@ include_directories(include
   ${catkin_INCLUDE_DIRS}
   ${GAZEBO_INCLUDE_DIRS}
 )
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 
-## Libraries
+link_directories(
+  ${GAZEBO_LIBRARY_DIRS}
+  ${catkin_LIBRARY_DIRS}
+)
+
+## libraries
 add_library(${PROJECT_NAME} src/gazebo_ros_control_plugin.cpp)
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
 
@@ -58,13 +61,12 @@ target_link_libraries(default_robot_hw_sim ${catkin_LIBRARIES} ${GAZEBO_LIBRARIE
 ## Install
 install(TARGETS ${PROJECT_NAME} default_robot_hw_sim
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  )
+)
 
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  )
+)
 
 install(FILES robot_hw_sim_plugins.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  )
-
+)