Cleaned up CMakeLists.txt files

TzeLun · Jan 7, 2022 · c144500 · c144500
1 parent 10ee1f1
commit c144500
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Showing 6 changed files with 47 additions and 62 deletions.
diff --git a/AMBFConfig.cmake.in b/AMBFConfig.cmake.in
@@ -51,3 +51,4 @@ endif()
 # IMPORTED target created by AMBFTargets.cmake
 set(AMBF_LIBRARY_DIRS "@CONF_LIBRARY_DIRS@")
 set(AMBF_LIBRARIES "@CONF_LIBRARIES@")
+set(AMBF_ROS_LIBRARIES "@CONF_ROS_LIBRARIES@")
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -107,7 +107,7 @@ include_directories(${Boost_INCLUDE_DIRS})
 
 find_package(yaml-cpp QUIET)
 if (NOT ${yaml-cpp_FOUND})
-    message("-- *** YAML-CPP NOT FOUND, ADDING IT AS AN EXTERNAL PROJECT")
+    message(STATUS "-- *** YAML-CPP NOT FOUND, ADDING IT AS AN EXTERNAL PROJECT")
     include(cmake/ExternalYamlCpp.cmake)
 endif()
 include_directories(${YAML_CPP_INCLUDE_DIR})
@@ -129,7 +129,7 @@ if (${CMAKE_SYSTEM_NAME} MATCHES Linux)
               find_package(tf_function REQUIRED)
 
         if(${ambf_server_FOUND} AND ${ambf_msgs_FOUND} AND ${dvrk_arm_FOUND} AND ${ambf_client_FOUND})
-            message("-- *** FOUND AMBF_COMM, AMBF_MSGS, AMBF_CLIENT and DVRK_ARM, ENABLING DVRK DEVICE SUPPORT")
+            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})
             set(AMBF_ROS_LIBRARIES ${AMBF_ROS_LIBRARIES} ${catkin_LIBRARIES})
@@ -138,25 +138,25 @@ if (${CMAKE_SYSTEM_NAME} MATCHES Linux)
             list(APPEND CHAI3D_DEFINITIONS -DC_ENABLE_AMBF_DVRK_DEVICE_SUPPORT)
 
         else()
-            message("-- *** AMBF_COMM, AMBF_MSGS, AMBF_CLIENT and DVRK_ARM NOT FOUND")
+            message(STATUS "-- *** AMBF_COMM, AMBF_MSGS, AMBF_CLIENT and DVRK_ARM NOT FOUND")
         endif()
 
         find_package(OpenCV QUIET)
         if(${OpenCV_FOUND})
-            message("-- *** FOUND OPENCV")
+            message(STATUS "-- *** FOUND OPENCV")
             if(${cv_bridge_FOUND} AND ${image_transport_FOUND})
-                message("-- *** FOUND ROS_CV_BRIDGE and IMAGE_TRANSPORT, ENABLING VIDEO PUBLISHING SUPPORT")
+                message(STATUS "-- *** FOUND ROS_CV_BRIDGE and IMAGE_TRANSPORT, ENABLING VIDEO PUBLISHING SUPPORT")
 
                 list(APPEND AMBF_DEFINITIONS -DAF_ENABLE_OPEN_CV_SUPPORT)
                 set(AMBF_ROS_INCLUDE_DIRS ${AMBF_ROS_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
                 set(AMBF_ROS_LIBRARIES ${AMBF_ROS_LIBRARIES} ${OpenCV_LIBRARIES})
             else()
-                message("-- *** ROS CV_BRIDGE and IMAGE_TRANSPORT NOT FOUND")
+                message(STATUS "-- *** ROS CV_BRIDGE and IMAGE_TRANSPORT NOT FOUND")
             endif()
         endif()
 
         if (${razer_hydra_FOUND})
-            message("-- *** FOUND RAZER HYDRA'S ROS PACKAGE, ENABLING DEVICE SUPPORT")
+            message(STATUS "-- *** FOUND RAZER HYDRA'S ROS PACKAGE, ENABLING DEVICE SUPPORT")
 
             set(AMBF_ROS_INCLUDE_DIRS ${AMBF_ROS_INCLUDE_DIRS} ${razer_hydra_INCLUDE_DIRS})
             set(AMBF_ROS_LIBRARIES ${AMBF_ROS_LIBRARIES} ${razer_hydra_LIBRARIES})
@@ -165,7 +165,7 @@ if (${CMAKE_SYSTEM_NAME} MATCHES Linux)
             list(APPEND CHAI3D_DEFINITIONS -DC_ENABLE_RAZER_HYDRA_DEVICE_SUPPORT)
 
         else()
-        message("-- *** RAZER HYDRA'S ROS PACKAGE NOT FOUND")
+        message(STATUS "-- *** RAZER HYDRA'S ROS PACKAGE NOT FOUND")
         endif()
 
     endif()
@@ -335,11 +335,6 @@ add_library(bullet STATIC ${source_bullet_collision} ${source_bullet_dynamics} $
 # static library
 add_library (ambf_framework STATIC ${source_ambf_framework} ${source_ambf_plugins})
 
-#message("1) CHAI3D_DEFINITIONS" ${CHAI3D_DEFINITIONS})
-#message("2) BULLET_DEFINITIONS" ${BULLET_DEFINITIONS})
-#message("3) AMBF_DEFINITIONS" ${AMBF_DEFINITIONS})
-#message("4) COMMON_DEFINITIONS" ${COMMON_DEFINITIONS})
-
 add_definitions(${CHAI3D_DEFINITIONS})
 add_definitions(${BULLET_DEFINITIONS})
 add_definitions(${AMBF_DEFINITIONS})
@@ -375,12 +370,11 @@ set (AMBF_LIBRARIES ambf_framework chai3d bullet ${GLFW_LIBRARIES} ${OPENGL_LIBR
 # ROS CATKIN INCLUDES AND LIBRARIES
 if (${CMAKE_SYSTEM_NAME} MATCHES Linux)
     set (AMBF_INCLUDE_DIRS ${AMBF_INCLUDE_DIRS} ${AMBF_ROS_INCLUDE_DIRS})
-    set (AMBF_LIBRARIES ${AMBF_LIBRARIES} ${AMBF_ROS_LIBRARIES})
 endif()
 
 if (NOT ${CMAKE_SYSTEM_NAME} MATCHES Windows)
   if (${CMAKE_HOST_SYSTEM_PROCESSOR}  MATCHES "aarch64")
-    set (AMBF_LIBRARIES ${AMBF_LIBRARIES})
+#    set (AMBF_LIBRARIES ${AMBF_LIBRARIES})
   else ()
     set (AMBF_LIBRARIES ${AMBF_LIBRARIES} drd)
   endif ()
@@ -423,6 +417,7 @@ export (PACKAGE AMBF)
 set (CONF_INCLUDE_DIRS ${AMBF_INCLUDE_DIRS})
 set (CONF_LIBRARY_DIRS  ${AMBF_LIBRARY_DIRS})
 set (CONF_LIBRARIES  ${AMBF_LIBRARIES})
+set (CONF_ROS_LIBRARIES  ${AMBF_ROS_LIBRARIES})
 set (CONF_DEFINITIONS  ${AMBF_DEFINITIONS} ${CHAI3D_DEFINITIONS} ${BULLET_DEFINITIONS} ${COMMON_DEFINITIONS})
 
 # create package configuration and version files

diff --git a/ambf_controller/CMakeLists.txt b/ambf_controller/CMakeLists.txt
@@ -49,7 +49,7 @@ add_executable (raven_controller raven2/include/ambf_defines.h
                                  raven2/src/ambf_defines.cpp
                                  raven2/src/main.cpp )
 
-target_link_libraries (raven_controller ${AMBF_LIBRARIES})
+target_link_libraries (raven_controller ${AMBF_ROS_LIBRARIES})
 
 set (PSM_IK_HDR_FILES
     dvrk/cpp_controller/include/psm_ik_test.h
@@ -62,7 +62,7 @@ set(PSM_IK_SOURCE_FILES
     dvrk/cpp_controller/src/Utilities.cpp)
 
 add_executable (psm_ik_test  ${PSM_IK_HDR_FILES} ${PSM_IK_SOURCE_FILES})
-target_link_libraries (psm_ik_test ${AMBF_LIBRARIES} ${AMBF_CLIEMT_LIBRARIES} ${GLFW_LIBRARIES} ${Boost_LIBRARIES} ambf_client_cpp)
+target_link_libraries (psm_ik_test ${AMBF_CLIENT_LIBRARIES} ${GLFW_LIBRARIES} ${Boost_LIBRARIES} ambf_client_cpp)
 
 
 set (ECM_IK_HDR_FILES
@@ -76,4 +76,4 @@ set(ECM_IK_SOURCE_FILES
     dvrk/cpp_controller/src/Utilities.cpp)
 
 add_executable (ecm_ik_test  ${ECM_IK_HDR_FILES} ${ECM_IK_SOURCE_FILES})
-target_link_libraries (ecm_ik_test ${AMBF_LIBRARIES} ${AMBF_CLIEMT_LIBRARIES} ${GLFW_LIBRARIES} ${Boost_LIBRARIES} ambf_client_cpp)
+target_link_libraries (ecm_ik_test ${AMBF_CLIENT_LIBRARIES} ${GLFW_LIBRARIES} ${Boost_LIBRARIES} ambf_client_cpp)
diff --git a/ambf_ros_modules/ambf_client/CMakeLists.txt b/ambf_ros_modules/ambf_client/CMakeLists.txt
@@ -54,9 +54,10 @@ message_generation)
 
 catkin_python_setup()
 
-catkin_package( INCLUDE_DIRS include
-  LIBRARIES ambf_client_cpp
-  CATKIN_DEPENDS ambf_msgs message_runtime
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES ambf_client_cpp
+    CATKIN_DEPENDS ambf_msgs message_runtime
 #  DEPENDS system_lib
 )
 

diff --git a/ambf_ros_modules/ambf_server/CMakeLists.txt b/ambf_ros_modules/ambf_server/CMakeLists.txt
@@ -41,7 +41,7 @@ cmake_minimum_required(VERSION 3.0.2)
 project(ambf_server)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
- add_compile_options(-std=c++11)
+add_compile_options(-std=c++11)
 
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
@@ -52,9 +52,10 @@ ambf_msgs
 tf
 message_generation)
 
-catkin_package( INCLUDE_DIRS include
-  LIBRARIES ambf_obj ambf_world
-  CATKIN_DEPENDS ambf_msgs message_runtime
+catkin_package(
+    INCLUDE_DIRS include
+    LIBRARIES ambf_server
+    CATKIN_DEPENDS ambf_msgs message_runtime
 #  DEPENDS system_lib
 )
 
@@ -66,63 +67,50 @@ catkin_package( INCLUDE_DIRS include
 ## Your package locations should be listed before other locations
 include_directories( include ${catkin_INCLUDE_DIRS})
 
-set (OBJ_HDR_FILES
-    include/${PROJECT_NAME}/Actuator.h
-    include/${PROJECT_NAME}/Camera.h
-    include/${PROJECT_NAME}/Light.h
-    include/${PROJECT_NAME}/Object.h
-    include/${PROJECT_NAME}/RigidBody.h
-    include/${PROJECT_NAME}/Sensor.h
-    include/${PROJECT_NAME}/Vehicle.h
+set (HDR_FILES
     include/${PROJECT_NAME}/RosComBase.h
+    include/${PROJECT_NAME}/CmdWatchDog.h
+    include/${PROJECT_NAME}/Actuator.h
     include/${PROJECT_NAME}/ActuatorRosCom.h
+    include/${PROJECT_NAME}/Camera.h
     include/${PROJECT_NAME}/CameraRosCom.h
+    include/${PROJECT_NAME}/Light.h
     include/${PROJECT_NAME}/LightRosCom.h
+    include/${PROJECT_NAME}/Object.h
     include/${PROJECT_NAME}/ObjectRosCom.h
+    include/${PROJECT_NAME}/RigidBody.h
     include/${PROJECT_NAME}/RigidBodyRosCom.h
+    include/${PROJECT_NAME}/Sensor.h
     include/${PROJECT_NAME}/SensorRosCom.h
+    include/${PROJECT_NAME}/Vehicle.h
     include/${PROJECT_NAME}/VehicleRosCom.h
-    include/${PROJECT_NAME}/CmdWatchDog.h )
+    include/${PROJECT_NAME}/World.h
+    include/${PROJECT_NAME}/WorldRosCom.h)
 
-set (OBJ_SRC_FILES
+set (SRC_FILES
+    src/RosComBase.cpp
     src/Actuator.cpp
-    src/Camera.cpp
-    src/Light.cpp
-    src/Object.cpp
-    src/RigidBody.cpp
-    src/Sensor.cpp
-    src/Vehicle.cpp
     src/ActuatorRosCom.cpp
+    src/Camera.cpp
     src/CameraRosCom.cpp
+    src/Light.cpp
     src/LightRosCom.cpp
+    src/Object.cpp
     src/ObjectRosCom.cpp
+    src/RigidBody.cpp
     src/RigidBodyRosCom.cpp
+    src/Sensor.cpp
     src/SensorRosCom.cpp
+    src/Vehicle.cpp
     src/VehicleRosCom.cpp
-    src/RosComBase.cpp )
-
-
-set (WORLD_HDR_FILES
-    include/${PROJECT_NAME}/World.h
-    include/${PROJECT_NAME}/RosComBase.h
-    include/${PROJECT_NAME}/WorldRosCom.h
-    include/${PROJECT_NAME}/CmdWatchDog.h )
-
-set (WORLD_SRC_FILES
     src/World.cpp
     src/WorldRosCom.cpp
-    src/RosComBase.cpp )
+    )
 
 ## Declare a C++ library
-add_library(ambf_obj ${OBJ_HDR_FILES} ${OBJ_SRC_FILES})
-add_library(ambf_world ${WORLD_HDR_FILES} ${WORLD_SRC_FILES})
+add_library(ambf_server ${HDR_FILES} ${SRC_FILES})
 
-add_dependencies(ambf_obj ${catkin_EXPORTED_TARGETS})
-add_dependencies(ambf_world ${catkin_EXPORTED_TARGETS})
+add_dependencies(ambf_server ${catkin_EXPORTED_TARGETS})
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(ambf_obj ${catkin_LIBRARIES})
-target_link_libraries(ambf_world ${catkin_LIBRARIES})
-
-set (AMBF_COMM_INCLUDE_DIRS include)
-set (AMBF_COMM_LIBRARIES ambf_obj ambf_world)
+target_link_libraries(ambf_server ${catkin_LIBRARIES})
diff --git a/ambf_simulator/CMakeLists.txt b/ambf_simulator/CMakeLists.txt
@@ -42,4 +42,4 @@ find_package (Boost COMPONENTS program_options REQUIRED)
 
 add_executable (ambf_simulator src/ambf_simulator.cpp)
 #message("AMBF LIBS ARE: " ${AMBF_LIBRARIES})
-target_link_libraries (ambf_simulator ${AMBF_LIBRARIES} ${ADF_LOADER_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries (ambf_simulator ${AMBF_LIBRARIES} ${AMBF_ROS_LIBRARIES} ${ADF_LOADER_LIBRARIES} ${Boost_LIBRARIES})