93 lines
2.8 KiB
CMake
93 lines
2.8 KiB
CMake
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# This file was taken from:
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# https://github.com/jrl-umi3218/jrl-cmakemodules/blob/master/ros.cmake
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MACRO(ADD_ROSPACK_DEPENDENCY PKG)
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IF(PKG STREQUAL "")
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MESSAGE(FATAL_ERROR "ADD_ROS_DEPENDENCY invalid call.")
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ENDIF()
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# Transform package name into a valid variable prefix.
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# 1. replace invalid characters into underscores.
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STRING(REGEX REPLACE "[^a-zA-Z0-9]" "_" PREFIX "${PKG}")
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# 2. make it uppercase.
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STRING(TOUPPER "${PREFIX}" "PREFIX")
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SET(${PREFIX}_FOUND 0)
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FIND_PROGRAM(ROSPACK rospack)
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IF(NOT ROSPACK)
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MESSAGE(FATAL_ERROR "failed to find the rospack binary. Is ROS installed?")
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ENDIF()
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MESSAGE(STATUS "Looking for ${PKG} using rospack...")
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EXEC_PROGRAM("${ROSPACK} find ${PKG}" OUTPUT_VARIABLE ${PKG}_ROS_PREFIX)
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IF(NOT ${PKG}_ROS_PREFIX)
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MESSAGE(FATAL_ERROR "Failed to detect ${PKG}.")
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ENDIF()
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SET(${PREFIX}_FOUND 1)
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EXEC_PROGRAM("${ROSPACK} export --lang=cpp --attrib=cflags -q ${PKG}"
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OUTPUT_VARIABLE "${PREFIX}_CFLAGS")
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EXEC_PROGRAM("${ROSPACK} export --lang=cpp --attrib=lflags -q ${PKG}"
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OUTPUT_VARIABLE "${PREFIX}_LIBS")
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# Add flags to package pkg-config file.
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PKG_CONFIG_APPEND_CFLAGS (${${PREFIX}_CFLAGS})
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PKG_CONFIG_APPEND_LIBS_RAW (${${PREFIX}_LIBS})
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ENDMACRO()
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MACRO(ROSPACK_USE_DEPENDENCY TARGET PKG)
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IF(PKG STREQUAL "")
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MESSAGE(FATAL_ERROR "ADD_ROS_DEPENDENCY invalid call.")
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ENDIF()
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# Transform package name into a valid variable prefix.
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# 1. replace invalid characters into underscores.
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STRING(REGEX REPLACE "[^a-zA-Z0-9]" "_" PREFIX "${PKG}")
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# 2. make it uppercase.
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STRING(TOUPPER "${PREFIX}" "PREFIX")
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# Make sure we do not override previous flags.
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GET_TARGET_PROPERTY(CFLAGS "${TARGET}" COMPILE_FLAGS)
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GET_TARGET_PROPERTY(LDFLAGS "${TARGET}" LINK_FLAGS)
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# If there were no previous flags, get rid of the XYFLAGS-NOTFOUND
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# in the variables.
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IF(NOT CFLAGS)
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SET(CFLAGS "")
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ENDIF()
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IF(NOT LDFLAGS)
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SET(LDFLAGS "")
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ENDIF()
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# Transform semi-colon seperated list in to space separated list.
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FOREACH(FLAG ${${PREFIX}_CFLAGS})
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SET(CFLAGS "${CFLAGS} ${FLAG}")
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ENDFOREACH()
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FOREACH(FLAG ${${PREFIX}_LDFLAGS})
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SET(LDFLAGS "${LDFLAGS} ${FLAG}")
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ENDFOREACH()
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# Filter out end of line in new flags.
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STRING(REPLACE "\n" "" ${PREFIX}_CFLAGS "${${PREFIX}_CFLAGS}")
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STRING(REPLACE "\n" "" ${PREFIX}_LIBS "${${PREFIX}_LIBS}")
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# Append new flags.
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SET(CFLAGS "${CFLAGS} ${${PREFIX}_CFLAGS}")
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SET(LDFLAGS "${LDFLAGS} ${${PREFIX}_LIBS}")
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# MESSAGE (STATUS "Linkerflags for ${TARGET}: ${LDFLAGS}")
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# Explicitly link against the shared object file
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EXEC_PROGRAM("${ROSPACK} export find ${PKG}"
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OUTPUT_VARIABLE "${PKG_FULL_PATH}")
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# SET (LDFLAGS "${LDFLAGS} ${PKG_FULL_PATH}/lib/lib${PKG}.so")
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# Update the flags.
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SET_TARGET_PROPERTIES(${TARGET}
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PROPERTIES COMPILE_FLAGS "${CFLAGS}" LINK_FLAGS "${LDFLAGS}")
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ENDMACRO()
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