fully remove catkin dependency.

ivatavuk · Jul 2, 2018 · 4df1470 · 4df1470
1 parent 1bb70ec
commit 4df1470
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Showing 8 changed files with 25 additions and 45 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,49 +1,13 @@
 # Copyright (c) 2017, Alexander W. Winkler, ETH Zurich. All rights reserved.
 cmake_minimum_required(VERSION 3.1.0 FATAL_ERROR)
-project(ifopt VERSION 2.0.0)
-
-set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
-find_package(Eigen3 REQUIRED)
-
-# predefine library names to export with catkin-package 
-set(LIB_CORE ifopt_core)
-set(ifopt_LIBRARIES ${LIB_CORE})
-set(ifopt_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
-list(APPEND ifopt_INCLUDE_DIRS ifopt_core/include)
-
-option(BUILD_IPOPT "compile with IPOPT solver" ON)
-if (BUILD_IPOPT)
-  set(LIB_IPOPT ifopt_ipopt)
-  list(APPEND ifopt_INCLUDE_DIRS ifopt_ipopt/include)
-  list(APPEND ifopt_LIBRARIES ${LIB_IPOPT})  
-endif()
-
-option(BUILD_SNOPT "compile with SNOPT solver" OFF)
-if (BUILD_SNOPT)
-  set(LIB_SNOPT ifopt_snopt)
-  list(APPEND ifopt_INCLUDE_DIRS ifopt_snopt/include)
-  list(APPEND ifopt_LIBRARIES ${LIB_SNOPT})
-endif()
-
-
-
-##############################################
-## catkin specific configuration (optional) ##
-##############################################
-if (CATKIN_DEVEL_PREFIX) # set only when building with catkin, not pure cmake
-find_package(catkin REQUIRED)
-catkin_package(
-  INCLUDE_DIRS ${ifopt_INCLUDE_DIRS}     
-  LIBRARIES    ${ifopt_LIBRARIES}
-)
-endif()
+project(ifopt VERSION 2.0.1)
 
 
 ###########
 ## Build ##
 ###########
 include(GNUInstallDirs) # for correct library locations across platforms
-set(config_package_location ${CMAKE_INSTALL_PREFIX}/share/ifopt/cmake) # for .cmake find-scripts installs
+set(config_package_location "share/${PROJECT_NAME}/cmake") # for .cmake find-scripts installs
 set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)          # so installed solver libraries link to IFOPT/SNOPT                                          
 set(CMAKE_INSTALL_RPATH ${CMAKE_INSTALL_PREFIX}/lib) # so installed solver libraries link to libifopt_core.so  
 
@@ -52,16 +16,20 @@ IF(NOT CMAKE_BUILD_TYPE MATCHES Release)
 endif()
 
 enable_testing()
-add_subdirectory(${LIB_CORE})
+set(LIB_CORE ifopt_core)
+add_subdirectory(ifopt_core)
 
+option(BUILD_IPOPT "compile with IPOPT solver" ON)
 if (BUILD_IPOPT)
-  add_subdirectory(${LIB_IPOPT})
+  add_subdirectory(ifopt_ipopt)
 endif()
 
+option(BUILD_SNOPT "compile with SNOPT solver" OFF)
 if (BUILD_SNOPT)
-  add_subdirectory(${LIB_SNOPT})
+  add_subdirectory(ifopt_snopt)
 endif()
 
+message(WARNING "VERSION: ${ifopt_VERSION}")
 
 ##################################################
 ## Install find scripts for find_package(ifopt) ##
@@ -83,3 +51,6 @@ install(
     "${CMAKE_CURRENT_BINARY_DIR}/ifopt-config-version.cmake" # generated
   DESTINATION ${config_package_location}
 )
+
+# Install a Catkin 'package.xml' file. This is required by REP-136.
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
diff --git a/README.md b/README.md
@@ -1,8 +1,6 @@
 ### <img src="https://i.imgur.com/ZOfGZwB.png" height="60" />
 
-<!-- until build server fixed
 [![Build Status](https://ci.leggedrobotics.com/buildStatus/icon?job=github_ethz-adrl/ifopt/master)](https://ci.leggedrobotics.com/job/github_ethz-adrl/job/ifopt/job/master/)
--->
 [<img height="20" src="https://i.imgur.com/ZqRckbJ.png"/>](http://docs.ros.org/lunar/api/ifopt/html/)
 [![DOI](https://zenodo.org/badge/DOI/10.5281/zenodo.1135046.svg)](https://doi.org/10.5281/zenodo.1135046)
 <!-- The actual jenkins documentation job can be found here -->

diff --git a/ifopt_core/CMakeLists.txt b/ifopt_core/CMakeLists.txt
@@ -1,3 +1,7 @@
+set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake" ${CMAKE_MODULE_PATH})
+find_package(Eigen3 REQUIRED)
+
+
 ###########
 ## Build ##
 ###########

diff --git a/cmake/FindEigen3.cmake → ifopt_core/cmake/FindEigen3.cmake b/cmake/FindEigen3.cmake → ifopt_core/cmake/FindEigen3.cmake
diff --git a/cmake/FindGTest.cmake → ifopt_core/cmake/FindGTest.cmake b/cmake/FindGTest.cmake → ifopt_core/cmake/FindGTest.cmake
diff --git a/ifopt_ipopt/CMakeLists.txt b/ifopt_ipopt/CMakeLists.txt
@@ -4,6 +4,7 @@ find_package(IPOPT 3.11.9 REQUIRED)
 ###########
 ## Build ##
 ###########
+set(LIB_IPOPT ifopt_ipopt)
 # The IPOPT solver interface
 add_library(${LIB_IPOPT} SHARED 
     src/ipopt.cc

diff --git a/ifopt_snopt/CMakeLists.txt b/ifopt_snopt/CMakeLists.txt
@@ -4,6 +4,7 @@ find_package(SNOPT REQUIRED)
 ###########
 ## Build ##
 ###########
+set(LIB_SNOPT ifopt_snopt)
 add_library(${LIB_SNOPT} SHARED
   src/snopt.cc
   src/snopt_adapter.cc

diff --git a/package.xml b/package.xml
@@ -18,9 +18,14 @@
 
   <url type="website">https://github.com/ethz-adrl/ifopt</url>
 
-  <!-- although pure cmake is also sufficient -->
-  <buildtool_depend>catkin</buildtool_depend> 
   <depend>eigen</depend>
   <depend>coinor-libipopt-dev</depend> 
 
+  <!-- The following tags are recommended by REP-136 -->
+  <exec_depend>catkin</exec_depend>
+  <buildtool_depend>cmake</buildtool_depend>
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+
 </package>