Revert catkin warnings to fix regressions (problems with catkin -lpth…

…reads errors) For reference and reasons, please check: https://discourse.ros.org/t/need-to-sync-new-release-of-rqt-topic-indigo-jade-kinetic/1410/4 * Revert "Fix gazebo catkin warning, cleanup CMakeLists (#537)" This reverts commit 5a0305f. * Revert "Fix gazebo and sdformat catkin warnings" This reverts commit 11f95d2.
ros-simulation · Mar 3, 2017 · 6c9786d · 6c9786d
1 parent a89c2ad
commit 6c9786d
Show file tree

Hide file tree

Showing 3 changed files with 93 additions and 115 deletions.
diff --git a/gazebo_plugins/CMakeLists.txt b/gazebo_plugins/CMakeLists.txt
@@ -1,26 +1,24 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(gazebo_plugins)
 
-option(ENABLE_DISPLAY_TESTS "Enable the building of tests that requires a display" OFF)
-
 find_package(catkin REQUIRED COMPONENTS 
-  message_generation
-  gazebo_msgs
-  roscpp
-  rospy
-  nodelet
-  angles
-  std_srvs
-  geometry_msgs
-  sensor_msgs
-  nav_msgs
-  urdf
-  tf
-  tf2_ros
-  dynamic_reconfigure
-  rosgraph_msgs
-  trajectory_msgs
-  image_transport
+  message_generation 
+  gazebo_msgs 
+  roscpp 
+  rospy 
+  nodelet 
+  angles 
+  std_srvs 
+  geometry_msgs 
+  sensor_msgs 
+  nav_msgs 
+  urdf 
+  tf 
+  tf2_ros 
+  dynamic_reconfigure 
+  rosgraph_msgs 
+  trajectory_msgs 
+  image_transport 
   rosconsole
   cv_bridge
   polled_camera
@@ -40,8 +38,7 @@ else()
 endif()
 
 # Depend on system install of Gazebo and SDFormat
-find_package(GAZEBO REQUIRED)
-find_package(SDFormat REQUIRED)
+find_package(gazebo REQUIRED)
 find_package(Boost REQUIRED COMPONENTS thread)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 
@@ -77,6 +74,8 @@ 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()
@@ -87,60 +86,60 @@ endif()
 
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES
-  vision_reconfigure
-  gazebo_ros_utils
-  gazebo_ros_camera_utils
-  gazebo_ros_camera
-  gazebo_ros_multicamera
-  gazebo_ros_depth_camera
-  gazebo_ros_openni_kinect
-  gazebo_ros_gpu_laser
-  gazebo_ros_laser
-  gazebo_ros_block_laser
-  gazebo_ros_p3d
-  gazebo_ros_imu
-  gazebo_ros_f3d
+  LIBRARIES 
+  vision_reconfigure 
+  gazebo_ros_utils 
+  gazebo_ros_camera_utils 
+  gazebo_ros_camera 
+  gazebo_ros_multicamera 
+  gazebo_ros_depth_camera 
+  gazebo_ros_openni_kinect 
+  gazebo_ros_gpu_laser 
+  gazebo_ros_laser 
+  gazebo_ros_block_laser 
+  gazebo_ros_p3d 
+  gazebo_ros_imu 
+  gazebo_ros_f3d 
   gazebo_ros_ft_sensor
-  gazebo_ros_bumper
-  gazebo_ros_template
-  gazebo_ros_projector
-  gazebo_ros_prosilica
-  gazebo_ros_force
-  gazebo_ros_joint_trajectory
-  gazebo_ros_joint_state_publisher
+  gazebo_ros_bumper 
+  gazebo_ros_template 
+  gazebo_ros_projector 
+  gazebo_ros_prosilica 
+  gazebo_ros_force 
+  gazebo_ros_joint_trajectory 
+  gazebo_ros_joint_state_publisher 
   gazebo_ros_joint_pose_trajectory
   gazebo_ros_diff_drive
   gazebo_ros_tricycle_drive
   gazebo_ros_skid_steer_drive
   gazebo_ros_video
   gazebo_ros_planar_move
   gazebo_ros_vacuum_gripper
-
-  CATKIN_DEPENDS
-  message_generation
-  gazebo_msgs
-  roscpp
-  rospy
-  nodelet
-  angles
-  std_srvs
-  geometry_msgs
-  sensor_msgs
-  nav_msgs
-  urdf
-  tf
+  
+  CATKIN_DEPENDS 
+  message_generation 
+  gazebo_msgs 
+  roscpp 
+  rospy 
+  nodelet 
+  angles 
+  std_srvs 
+  geometry_msgs 
+  sensor_msgs 
+  nav_msgs 
+  urdf 
+  tf 
   tf2_ros
-  dynamic_reconfigure
-  rosgraph_msgs
-  trajectory_msgs
-  image_transport
+  dynamic_reconfigure 
+  rosgraph_msgs 
+  trajectory_msgs 
+  image_transport 
   rosconsole
   camera_info_manager
   std_msgs
-  DEPENDS
-    GAZEBO
-    SDFormat
+  DEPENDS 
+    gazebo 
+    SDF
   )
 add_dependencies(${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
 
@@ -289,9 +288,9 @@ target_link_libraries(gazebo_ros_vacuum_gripper ${GAZEBO_LIBRARIES} ${catkin_LIB
 add_library(gazebo_ros_template src/gazebo_ros_template.cpp)
 target_link_libraries(gazebo_ros_template ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(TARGETS
-  hokuyo_node
-  vision_reconfigure
+install(TARGETS 
+  hokuyo_node 
+  vision_reconfigure 
   camera_synchronizer
   gazebo_ros_utils
   gazebo_ros_camera_utils
@@ -322,7 +321,7 @@ install(TARGETS
   gazebo_ros_video
   gazebo_ros_planar_move
   gazebo_ros_vacuum_gripper
-  pub_joint_trajectory_test
+  pub_joint_trajectory_test  
   gazebo_ros_gpu_laser
   gazebo_ros_range
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -361,28 +360,11 @@ install(DIRECTORY test
   )
 
 # Tests
-# These need to be run with -j1 flag because gazebo can't be run
-# in parallel.
 if (CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
   add_rostest_gtest(set_model_state-test
-                    test/set_model_state_test/set_model_state_test.test
+                    test/set_model_state_test/set_model_state_test.test 
                     test/set_model_state_test/set_model_state_test.cpp)
   add_rostest(test/range/range_plugin.test)
   target_link_libraries(set_model_state-test ${catkin_LIBRARIES})
-
-  if (ENABLE_DISPLAY_TESTS)
-    add_rostest_gtest(depth_camera-test
-                      test/camera/depth_camera.test
-                      test/camera/depth_camera.cpp)
-    target_link_libraries(depth_camera-test ${catkin_LIBRARIES})
-    add_rostest_gtest(multicamera-test
-                      test/camera/multicamera.test
-                      test/camera/multicamera.cpp)
-    target_link_libraries(multicamera-test ${catkin_LIBRARIES})
-    add_rostest_gtest(camera-test
-                      test/camera/camera.test
-                      test/camera/camera.cpp)
-    target_link_libraries(camera-test ${catkin_LIBRARIES})
-  endif()
 endif()
diff --git a/gazebo_ros/CMakeLists.txt b/gazebo_ros/CMakeLists.txt
@@ -36,20 +36,21 @@ 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
@@ -61,8 +62,7 @@ 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
@@ -112,4 +112,5 @@ 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
@@ -16,11 +16,9 @@ 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
@@ -33,14 +31,9 @@ catkin_package(
     joint_limits_interface
     urdf
     angles
-  DEPENDS
-    #GAZEBO  # Re-enable after issue resolved:
-    # https://bitbucket.org/osrf/gazebo/issues/2198/gazebo7-linking-error-with-cmake-catkin
-  INCLUDE_DIRS
-    include
-  LIBRARIES
-    ${PROJECT_NAME}
-    default_robot_hw_sim
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME} default_robot_hw_sim
+  DEPENDS gazebo
 )
 
 link_directories(
@@ -53,6 +46,7 @@ include_directories(include
   ${catkin_INCLUDE_DIRS}
   ${GAZEBO_INCLUDE_DIRS}
 )
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
 
 ## Libraries
 add_library(${PROJECT_NAME} src/gazebo_ros_control_plugin.cpp)
@@ -64,12 +58,13 @@ 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}
-)
+  )
+