Fix checking Package_FOUND variables (WPI-AIM#189)

If a package was *not* found, Package_FOUND will not be set
so checking it's value will cause cmake to return an error.
Instead we just check if the variable exists.

I used the regex \${([\w-]+_FOUND)} to search/replace.

CMakeLists.txt

@@ -106,7 +106,7 @@ include_directories (${OPENGL_INCLUDE_DIR})
 include_directories(${Boost_INCLUDE_DIRS})
 
 find_package(yaml-cpp QUIET)
-if (NOT ${yaml-cpp_FOUND})
+if (NOT yaml-cpp_FOUND)
     message(STATUS "-- *** YAML-CPP NOT FOUND, ADDING IT AS AN EXTERNAL PROJECT")
     include(cmake/ExternalYamlCpp.cmake)
 endif()
@@ -119,7 +119,7 @@ if (${CMAKE_SYSTEM_NAME} MATCHES Linux)
     find_package(catkin COMPONENTS
       roscpp
     )
-    if (${catkin_FOUND})
+    if (catkin_FOUND)
         message("-- *** FOUND ROS ON THIS MACHINE, ENABLING SUPPORT FOR AMBF_ROS MODULES")
         add_subdirectory(${PROJECT_SOURCE_DIR}/ambf_ros_modules)
         add_subdirectory(${PROJECT_SOURCE_DIR}/external/tf_function)
@@ -128,7 +128,7 @@ if (${CMAKE_SYSTEM_NAME} MATCHES Linux)
         find_package(catkin QUIET COMPONENTS ambf_server ambf_msgs dvrk_arm razer_hydra cv_bridge image_transport ambf_client)
               find_package(tf_function REQUIRED)
 
-        if(${ambf_server_FOUND} AND ${ambf_msgs_FOUND} AND ${dvrk_arm_FOUND} AND ${ambf_client_FOUND})
+        if(ambf_server_FOUND AND ambf_msgs_FOUND AND dvrk_arm_FOUND AND ambf_client_FOUND)
             message(STATUS "-- *** FOUND AMBF_COMM, AMBF_MSGS, AMBF_CLIENT and DVRK_ARM, ENABLING DVRK DEVICE SUPPORT")
 
             set(AMBF_ROS_INCLUDE_DIRS ${AMBF_ROS_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
@@ -142,9 +142,9 @@ if (${CMAKE_SYSTEM_NAME} MATCHES Linux)
         endif()
 
         find_package(OpenCV QUIET)
-        if(${OpenCV_FOUND})
+        if(OpenCV_FOUND)
             message(STATUS "-- *** FOUND OPENCV")
-            if(${cv_bridge_FOUND} AND ${image_transport_FOUND})
+            if(cv_bridge_FOUND AND image_transport_FOUND)
                 message(STATUS "-- *** FOUND ROS_CV_BRIDGE and IMAGE_TRANSPORT, ENABLING VIDEO PUBLISHING SUPPORT")
 
                 list(APPEND AMBF_DEFINITIONS -DAF_ENABLE_OPEN_CV_SUPPORT)
@@ -155,7 +155,7 @@ if (${CMAKE_SYSTEM_NAME} MATCHES Linux)
             endif()
         endif()
 
-        if (${razer_hydra_FOUND})
+        if (razer_hydra_FOUND)
             message(STATUS "-- *** FOUND RAZER HYDRA'S ROS PACKAGE, ENABLING DEVICE SUPPORT")
 
             set(AMBF_ROS_INCLUDE_DIRS ${AMBF_ROS_INCLUDE_DIRS} ${razer_hydra_INCLUDE_DIRS})
@@ -318,7 +318,7 @@ list(APPEND COMMON_DEFINITIONS -DGLEW_STATIC)
 # static library
 add_library (adf_loader ${source_adf_loader})
 
-if(NOT ${yaml-cpp_FOUND})
+if(NOT yaml-cpp_FOUND)
   add_dependencies(adf_loader YAML_CPP_EXTERNAL_PROJECT)
 endif()
 
@@ -347,7 +347,7 @@ target_link_libraries(ambf_framework ${chai3d} ${bullet} ${Boost_LIBRARIES})
 
 # To ensure the ambf_ros_modules are build before the ambf_framework,
 # add catkin's targets as build dependency
- if (${catkin_FOUND})
+ if (catkin_FOUND)
    add_dependencies(ambf_framework ${catkin_EXPORTED_TARGETS})
  endif()
 
@@ -400,7 +400,7 @@ add_subdirectory (${PROJECT_SOURCE_DIR}/ambf_simulator)
 
 # AMBF Controller. Add if on Linux, Catkin Found and ambf_server Found
 if (${CMAKE_SYSTEM_NAME} MATCHES Linux)
-  if (${catkin_FOUND} AND ${ambf_server_FOUND})
+  if (catkin_FOUND AND ambf_server_FOUND)
     add_subdirectory (${PROJECT_SOURCE_DIR}/ambf_controller)
   endif()
 endif()

adf_loader/CMakeLists.txt

@@ -38,7 +38,7 @@
 
 find_package(yaml-cpp QUIET)
 
-if (NOT ${yaml-cpp_FOUND})
+if (NOT yaml-cpp_FOUND)
     message("-- *** YAML-CPP NOT FOUND, ADDING IT AS AN EXTERNAL PROJECT")
     include(../cmake/ExternalYamlCpp.cmake)
 endif()
@@ -50,7 +50,7 @@ file (GLOB_RECURSE source_adf_loader *.cpp *.h)
 
 add_library(adf_loader ${source_adf_loader})
 
-if(NOT ${yaml-cpp_FOUND})
+if(NOT yaml-cpp_FOUND)
   add_dependencies(adf_loader YAML_CPP_EXTERNAL_PROJECT)
 endif()
 

external/chai3d/CMakeLists.txt

@@ -93,13 +93,13 @@ if (${CMAKE_SYSTEM_NAME} MATCHES Linux)
       dvrk_arm
       chai_env
     )
-    if (${chai_env_FOUND})
+    if (chai_env_FOUND)
         message("-- ***FOUND CHAI ENV SUPPORT")
         add_definitions(-DC_ENABLE_AMBF_DVRK_DEVICE_SUPPORT)
         set (CHAI3D_DEFINITIONS -DC_ENABLE_AMBF_DVRK_DEVICE_SUPPORT)
     endif()
     find_package(razer_hydra)
-    if (${razer_hydra_FOUND})
+    if (razer_hydra_FOUND)
         message("-- ***Found Razer Hydra")
         add_definitions(-DC_ENABLE_RAZER_HYDRA_DEVICE_SUPPORT)
         set(catkin_INCLUDE_DIRS ${catkin_INCLUDE_DIRS} ${razer_hydra_INCLUDE_DIRS})