Merge branch 'origin/devel'

Author: olivier-stasse

CMakeLists.txt

@@ -59,10 +59,15 @@ set(CXX_DISABLE_WERROR False)
 set(CUSTOM_HEADER_DIR dynamic_graph_bridge)
 set(${PROJECT_NAME}_HEADERS
   include/dynamic_graph_bridge/ros_init.hh
-  include/dynamic_graph_bridge/ros_interpreter.hh
   include/dynamic_graph_bridge/sot_loader.hh
   include/dynamic_graph_bridge/sot_loader_basic.hh
   )
+
+IF(BUILD_PYTHON_INTERFACE)
+  set(${PROJECT_NAME}_HEADERS ${${PROJECT_NAME}_HEADERS}
+    include/dynamic_graph_bridge/ros_interpreter.hh )
+ENDIF(BUILD_PYTHON_INTERFACE)
+
 SEARCH_FOR_EIGEN()
 SEARCH_FOR_BOOST()
 
@@ -130,8 +135,19 @@ macro(compile_plugin NAME)
   set_target_properties(${NAME} PROPERTIES BUILD_WITH_INSTALL_RPATH True)
   set_target_properties(${NAME} PROPERTIES PREFIX "")
   install(TARGETS ${NAME} DESTINATION lib/plugin)
+endmacro()
+
+# Build Sot Entities
+set(listplugins ros_publish ros_subscribe ros_queued_subscribe ros_tf_listener ros_time)
+
+foreach(aplugin ${listplugins})
+  compile_plugin(${aplugin})
+endforeach()
+
+target_link_libraries(ros_publish ros_bridge)
 
-  IF(BUILD_PYTHON_INTERFACE)
+IF(BUILD_PYTHON_INTERFACE)
+  foreach(NAME ${listplugins})
     dynamic_graph_python_module("ros/${NAME}"
       ${NAME}
       ros/${NAME}/wrap
@@ -141,25 +157,10 @@ macro(compile_plugin NAME)
     PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap dynamic_graph)
     PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap sot-core)
     PKG_CONFIG_USE_DEPENDENCY(ros/${NAME}/wrap dynamic_graph_bridge_msgs)
-  ENDIF(BUILD_PYTHON_INTERFACE)
-endmacro()
-
-# Build Sot Entities
-compile_plugin(ros_publish)
-compile_plugin(ros_subscribe)
-compile_plugin(ros_queued_subscribe)
-compile_plugin(ros_tf_listener)
-compile_plugin(ros_time)
-compile_plugin(ros_joint_state)
-pkg_config_use_dependency(ros_joint_state pinocchio)
-
-target_link_libraries(ros_joint_state "${DYNAMIC_GRAPH_PLUGINDIR}/dp-dynamic.so")
-target_link_libraries(ros_publish ros_bridge)
+  endforeach()
 
-#compile_plugin(robot_model)
+  # ros_interperter library.
 
-# ros_interperter library.
-IF(BUILD_PYTHON_INTERFACE)
   add_library(ros_interpreter src/ros_interpreter.cpp)
   pkg_config_use_dependency(ros_interpreter dynamic-graph)
   pkg_config_use_dependency(ros_interpreter sot-core)
@@ -173,16 +174,6 @@ IF(BUILD_PYTHON_INTERFACE)
   message(cmakeinstalllibdir " is ${CMAKE_INSTALL_LIBDIR} ")
   install(TARGETS ros_interpreter DESTINATION lib)
 
-  # Stand alone remote dynamic-graph Python interpreter.
-  add_executable(interpreter src/interpreter.cpp)
-  add_dependencies(interpreter ros_interpreter)
-  target_link_libraries(interpreter ros_interpreter)
-  pkg_config_use_dependency(interpreter dynamic-graph)
-  pkg_config_use_dependency(interpreter sot-core)
-  pkg_config_use_dependency(interpreter sot-dynamic-pinocchio)
-  pkg_config_use_dependency(interpreter dynamic_graph_bridge_msgs)
-  # set_target_properties(interpreter PROPERTIES BUILD_WITH_INSTALL_RPATH True)
-  #install(TARGETS interpreter DESTINATION bin)
 ENDIF(BUILD_PYTHON_INTERFACE)
 
 # Stand alone embedded intepreter with a robot controller.
@@ -213,23 +204,27 @@ catkin_package(CATKIN_DEPENDS message_runtime roscpp realtime_tools tf2_bullet $
 
 # Add libraries in pc file generated by cmake submodule
 PKG_CONFIG_APPEND_LIBS(ros_bridge sot_loader)
+
 IF(BUILD_PYTHON_INTERFACE)
   PKG_CONFIG_APPEND_LIBS(ros_interpreter)
+
+  #install ros executables
+  install(PROGRAMS
+    ${CMAKE_SOURCE_DIR}/scripts/robot_pose_publisher
+    ${CMAKE_SOURCE_DIR}/scripts/run_command
+    ${CMAKE_SOURCE_DIR}/scripts/tf_publisher
+    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+    )
+  
+  # Service file.
+  install(FILES ./srv/RunPythonFile.srv DESTINATION ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/srv)
+
 ENDIF(BUILD_PYTHON_INTERFACE)
 
-#install ros executables
-install(PROGRAMS
-  ${CMAKE_SOURCE_DIR}/scripts/robot_pose_publisher
-  ${CMAKE_SOURCE_DIR}/scripts/run_command
-  ${CMAKE_SOURCE_DIR}/scripts/tf_publisher
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-  )
 message(cmake_install_bindir " is ${CMAKE_INSTALL_BINDIR} ")
 install(TARGETS geometric_simu DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(FILES manifest.xml DESTINATION ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/)
 
-# Service file.
-install(FILES ./srv/RunPythonFile.srv DESTINATION ${CMAKE_INSTALL_PREFIX}/share/${PROJECT_NAME}/srv)
 
 SETUP_PROJECT_FINALIZE()