CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(rtt_kdl_msgs)

## find catkin and catkin dependencies
find_package(catkin REQUIRED COMPONENTS rtt_roscomm kdl_msgs)
catkin_destinations()

## Build options
# mqueue transport
OPTION(ENABLE_MQ "Build posix message queue transport plugin for ${_package}" OFF)
if(ENABLE_MQ)
  use_orocos(rtt-transport-mqueue)
  if (OROCOS-RTT_MQUEUE_FOUND)
    message(STATUS "Building MQueue transport plugin for ROS messages in package ${PROJECT_NAME} with ${OROCOS-RTT_MQUEUE_LIBRARIES}")
  else()
    message(WARNING "Disabled built of posix message queue transport plugin for ${_package} because the RTT mqueue plugin could not be found.")
    set(ENABLE_MQ OFF CACHE BOOL "Build posix message queue transport plugin for ${_package} (forced to OFF)" FORCE)
  endif()
endif()

# corba transport
OPTION(ENABLE_CORBA "Build CORBA transport plugin for ${_package}" OFF)
if(ENABLE_CORBA)
  use_orocos(rtt-transport-corba)
  if(OROCOS-RTT_CORBA_FOUND)
    message(STATUS "Building CORBA transport plugin for ROS messages in package ${PROJECT_NAME} with ${OROCOS-RTT_CORBA_LIBRARIES}")
  else()
    message(WARNING "Disabled built of CORBA transport plugin for ${_package} because the RTT CORBA plugin could not be found.")
    set(ENABLE_CORBA OFF CACHE BOOL "Build CORBA transport plugin for ${_package} (forced to OFF)" FORCE)
  endif()
endif()

if(NOT DEFINED CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "Release")
  set(CMAKE_BUILD_TYPE MinSizeRel)
endif()

## Build typekit and transport plugins
include_directories(
  include
  include/orocos
  ${catkin_INCLUDE_DIRS}
)

# Build typekit plugin
orocos_typekit(rtt-kdl_msgs-typekit
  src/ros_FrameStamped_typekit_plugin.cpp
  src/ros_Frame_typekit_plugin.cpp
  src/ros_JntArrayStamped_typekit_plugin.cpp
  src/ros_JntArray_typekit_plugin.cpp
  src/ros_RotationStamped_typekit_plugin.cpp
  src/ros_Rotation_typekit_plugin.cpp
  src/ros_TwistStamped_typekit_plugin.cpp
  src/ros_Twist_typekit_plugin.cpp
  src/ros_VectorStamped_typekit_plugin.cpp
  src/ros_Vector_typekit_plugin.cpp
  src/ros_WrenchStamped_typekit_plugin.cpp
  src/ros_Wrench_typekit_plugin.cpp
  src/ros_kdl_msgs_typekit.cpp
)
target_link_libraries(rtt-kdl_msgs-typekit ${catkin_LIBRARIES})

orocos_typekit(rtt-kdl_msgs-ros-transport
  src/ros_kdl_msgs_transport.cpp
)
target_link_libraries(rtt-kdl_msgs-ros-transport ${catkin_LIBRARIES})

# Build mqueue transport plugin
#if(ENABLE_MQ)
#  orocos_typekit(rtt-kdl_msgs-ros-transport-mqueue
#    ${rtt-kdl_msgs-ros-transport-mqueue_SOURCES}
#  )
#  target_link_libraries(rtt-kdl_msgs-ros-transport-mqueue ${catkin_LIBRARIES} ${OROCOS-RTT_MQUEUE_LIBRARIES})
#endif()

# Build corba transport plugin
if(ENABLE_CORBA)
  orocos_typekit(rtt-kdl_msgs-ros-transport-corba
    src/ros_FrameStamped_corba_conversion.hpp
    src/ros_JntArrayStamped_corba_conversion.hpp
    src/ros_RotationStamped_corba_conversion.hpp
    src/ros_TwistStamped_corba_conversion.hpp
    src/ros_VectorStamped_corba_conversion.hpp
    src/ros_WrenchStamped_corba_conversion.hpp
    src/ros_kdl_msgs_transport_corba.cpp
  )
  target_link_libraries(rtt-kdl_msgs-ros-transport-corba ${catkin_LIBRARIES} ${OROCOS-RTT_CORBA_LIBRARIES})
endif()

# Add an explicit dependency between the typekits and message files
# TODO: Add deps for all msg dependencies
if(kdl_msgs_EXPORTED_TARGETS)
  if(NOT kdl_msgs STREQUAL ${PROJECT_NAME})
    add_dependencies(rtt-kdl_msgs-typekit ${kdl_msgs_EXPORTED_TARGETS})
    add_dependencies(rtt-kdl_msgs-ros-transport ${kdl_msgs_EXPORTED_TARGETS})
    if(TARGET rtt-kdl_msgs-ros-transport-mqueue)
      add_dependencies(rtt-kdl_msgs-ros-transport-mqueue ${kdl_msgs_EXPORTED_TARGETS})
    endif()
    if(TARGET rtt-kdl_msgs-ros-transport-corba)
      add_dependencies(rtt-kdl_msgs-ros-transport-corba ${kdl_msgs_EXPORTED_TARGETS})
    endif()
  endif()
endif()

## Install headers
install(
  DIRECTORY include/orocos
  DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
)

## Generate Orocos package
orocos_generate_package(
  DEPENDS kdl_msgs
  DEPENDS_TARGETS rtt_roscomm kdl_typekit rtt_std_msgs
)