Merge pull request #111 from k-okada/hrpEC_with_hrpIo_gazebo

compile hrpEC liked with hrpIo_gazebo

.rosinstall

@@ -4,21 +4,21 @@
 - git:
     uri: https://github.com/start-jsk/hrpsys
     local-name: rtm-ros-robotics/openrtm_common/hrpsys
-- git:
-    uri: https://github.com/start-jsk/rtshell_core 
-    local-name: rtm-ros-robotics/openrtm_common/rtshell_core
-- git:
-    uri: https://github.com/jsk-ros-pkg/jsk_common
-    local-name: jsk-ros-pkg/jsk_common
-- git:
-    uri: https://github.com/jsk-ros-pkg/jsk_recognition
-    local-name: jsk-ros-pkg/jsk_recognition
+## - git:
+##     uri: https://github.com/start-jsk/rtshell_core 
+##     local-name: rtm-ros-robotics/openrtm_common/rtshell_core
+## - git:
+##     uri: https://github.com/jsk-ros-pkg/jsk_common
+##     local-name: jsk-ros-pkg/jsk_common
+## - git:
+##     uri: https://github.com/jsk-ros-pkg/jsk_recognition
+##     local-name: jsk-ros-pkg/jsk_recognition
 - git:
     uri: https://github.com/jsk-ros-pkg/jsk_model_tools
     local-name: jsk-ros-pkg/jsk_model_tools
-- git:
-    uri: https://github.com/jsk-ros-pkg/jsk_roseus
-    local-name: jsk-ros-pkg/jsk_roseus
+## - git:
+##     uri: https://github.com/jsk-ros-pkg/jsk_roseus
+##     local-name: jsk-ros-pkg/jsk_roseus
 - svn:
     uri: https://svn.code.sf.net/p/jsk-ros-pkg/code/trunk/openrave_planning/collada_robots
     local-name: jsk-ros-pkg/collada_robots

hrpsys_gazebo_general/catkin.cmake

@@ -18,8 +18,10 @@ pkg_check_modules(openhrp3 openhrp3.1 REQUIRED)
 pkg_check_modules(hrpsys hrpsys-base REQUIRED)
 if(EXISTS ${hrpsys_SOURCE_DIR})
   set(ROBOTHARDWARE_SOURCE ${hrpsys_SOURCE_DIR}/src/rtc/RobotHardware)
+  set(HRPEC_SOURCE         ${hrpsys_SOURCE_DIR}/src/ec/hrpEC)
 else()
   set(ROBOTHARDWARE_SOURCE ${hrpsys_PREFIX}/share/hrpsys/src/rtc/RobotHardware)
+  set(HRPEC_SOURCE         ${hrpsys_PREFIX}/share/hrpsys/src/ec/hrpEC)
 endif()
 include_directories(${catkin_INCLUDE_DIRS} ${openrtm_aist_INCLUDE_DIRS} ${openhrp3_INCLUDE_DIRS} ${hrpsys_INCLUDE_DIRS})
 link_directories(${CATKIN_DEVEL_PREFIX}/lib ${hrpsys_PREFIX}/lib ${openhrp3_LIBRARY_DIRS} /opt/ros/$ENV{ROS_DISTRO}/lib/)

hrpsys_gazebo_general/iob/CMakeLists.txt

@@ -25,7 +25,15 @@ add_executable(RobotHardwareComp_gazebo ${ROBOTHARDWARE_SOURCE}/RobotHardwareCom
 target_link_libraries(RobotHardwareComp_gazebo ${libs} ${omniorb_LIBRARIES} ${omnidynamic_LIBRARIES} RTC coil)
 set_target_properties(RobotHardwareComp_gazebo PROPERTIES OUTPUT_NAME RobotHardwareComp)
 
-install(TARGETS RobotHardwareComp_gazebo RobotHardware_gazebo hrpIo_gazebo
+add_library(hrpEC_gazebo SHARED ${HRPEC_SOURCE}/hrpEC.cpp ${HRPEC_SOURCE}/hrpEC-common.cpp)
+target_link_libraries(hrpEC_gazebo hrpIo_gazebo hrpsysBaseStub)
+set_target_properties(hrpEC_gazebo PROPERTIES PREFIX "")
+set_target_properties(hrpEC_gazebo PROPERTIES LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
+set_target_properties(hrpEC_gazebo PROPERTIES OUTPUT_NAME hrpEC)
+set_target_properties(hrpEC_gazebo PROPERTIES COMPILE_DEFINITIONS "OPENRTM_VERSION110")
+
+
+install(TARGETS RobotHardwareComp_gazebo RobotHardware_gazebo hrpEC_gazebo hrpIo_gazebo
   RUNTIME DESTINATION bin CONFIGURATIONS Release Debug
   LIBRARY DESTINATION lib CONFIGURATIONS Release Debug
 )