Fix gazebo catkin warning, cleanup CMakeLists

ros-simulation · Feb 16, 2017 · 8c52185 · 8c52185
1 parent de823c0
commit 8c52185
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Showing 3 changed files with 30 additions and 28 deletions.
diff --git 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
@@ -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
@@ -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
@@ -31,9 +33,14 @@ catkin_package(
     joint_limits_interface
     urdf
     angles
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME} default_robot_hw_sim
-  DEPENDS gazebo
+  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
 )
 
 link_directories(
@@ -46,7 +53,6 @@ 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)
@@ -58,13 +64,12 @@ 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}
-  )
-
+)