Merge pull request #4 from meyerj/orocos-generate-package-cleanup

rtt_ros_integration: orocos_generate_package() cleanup
jhu-lcsr-forks · Dec 5, 2013 · 5203e87 · 5203e87
2 parents 5a54286 + ec96bd0
commit 5203e87
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Showing 13 changed files with 49 additions and 73 deletions.
diff --git a/rtt_actionlib/CMakeLists.txt b/rtt_actionlib/CMakeLists.txt
@@ -4,11 +4,6 @@ project(rtt_actionlib)
 find_package(catkin REQUIRED COMPONENTS
   roscpp rtt_ros actionlib rtt_roscomm)
 
-catkin_package(
-  INCLUDE_DIRS include 
-#  DEPENDS rtt ocl
-  CATKIN_DEPENDS roscpp rtt_roscomm actionlib)
-
 include_directories(
   include
   ${catkin_INCLUDE_DIRS}
@@ -18,8 +13,12 @@ include_directories(
 orocos_service(rtt_actionlib_service src/rtt_actionlib_service.cpp)
 target_link_libraries(rtt_actionlib_service ${catkin_LIBRARIES})
 
-orocos_generate_package()
-
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+orocos_generate_package(
+  INCLUDE_DIRS include
+  DEPENDS roscpp actionlib
+  DEPENDS_TARGETS rtt_ros rtt_roscomm
+)
 
+orocos_install_headers(
+  DIRECTORY include/${PROJECT_NAME}
+)
diff --git a/rtt_ros/CMakeLists.txt b/rtt_ros/CMakeLists.txt
@@ -9,8 +9,8 @@ include(${OROCOS-RTT_USE_FILE_PATH}/UseOROCOS-RTT.cmake)
 
 catkin_package(
   INCLUDE_DIRS include
-  CATKIN_DEPENDS rostime
-  CFG_EXTRAS rtt_ros-extras.cmake)
+  CFG_EXTRAS rtt_ros-extras.cmake
+)
 
 find_package(LibXml2 REQUIRED)
 
@@ -23,7 +23,10 @@ add_definitions(-DRTT_COMPONENT)
 orocos_service(rtt_ros src/rtt_ros_service.cpp)
 target_link_libraries(rtt_ros ${catkin_LIBRARIES} ${LIBXML2_LIBRARIES})
 
-orocos_generate_package()
+orocos_generate_package(
+  INCLUDE_DIRS include
+  DEPENDS rostime
+)
 
 install(PROGRAMS 
   scripts/rtt-upgrade-2.5
@@ -38,6 +41,6 @@ install(PROGRAMS
   scripts/typegen
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
-
+orocos_install_headers(
+  DIRECTORY include/${PROJECT_NAME}
+)
diff --git a/rtt_roscomm/CMakeLists.txt b/rtt_roscomm/CMakeLists.txt
@@ -1,13 +1,13 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(rtt_roscomm)
 
-find_package(catkin REQUIRED COMPONENTS roscpp rtt_rospack rtt_ros)
+find_package(catkin REQUIRED COMPONENTS roscpp rtt_ros)
 
 catkin_package(
-  INCLUDE_DIRS include 
-#  DEPENDS rtt ocl
-  CATKIN_DEPENDS roscpp  rtt_rospack 
-  CFG_EXTRAS GenerateRTTROSCommPackage.cmake)
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS rtt_ros
+  CFG_EXTRAS GenerateRTTROSCommPackage.cmake
+)
 
 include_directories(
   include
@@ -44,17 +44,18 @@ orocos_service(rtt_rosservice
 target_link_libraries(rtt_rosservice ${catkin_LIBRARIES})
 
 # Generate install targets and pkg-config files
-orocos_generate_package()
-
-
+orocos_generate_package(
+  INCLUDE_DIRS include
+  DEPENDS roscpp
+)
 
 install(PROGRAMS 
   scripts/create_rtt_pkg
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-install(DIRECTORY include/
-   DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
-   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
+orocos_install_headers(
+   DIRECTORY include/rtt_rostopic include/rtt_rosservice
+   INSTALL ${CATKIN_GLOBAL_INCLUDE_DESTINATION}/orocos
 )
 
 # Install cmake macros

diff --git a/rtt_roscomm/rtt_roscomm_pkg_template/CMakeLists.txt b/rtt_roscomm/rtt_roscomm_pkg_template/CMakeLists.txt
@@ -1,19 +1,12 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(rtt_@pkgname@)
 
-find_package(catkin REQUIRED COMPONENTS 
-  rtt_roscomm 
-  @pkgname@
-@catkin_deplist@)
+find_package(catkin REQUIRED COMPONENTS rtt_roscomm)
 
 ros_generate_rtt_typekit(@pkgname@)
 ros_generate_rtt_service_proxies(@pkgname@)
 
-catkin_package(
-#  DEPENDS ocl rtt
-  CATKIN_DEPENDS 
-  rtt_roscomm 
-  @pkgname@
-@catkin_deplist@)
-
-orocos_generate_package()
+orocos_generate_package(
+  DEPENDS @pkgname@
+  DEPENDS_TARGETS rtt_roscomm @rtt_packages@
+)
diff --git a/rtt_roscomm/rtt_roscomm_pkg_template/package.xml b/rtt_roscomm/rtt_roscomm_pkg_template/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>rtt_@pkgname@</name>
-  <version>2.6.0</version>
+  <version>0.0.0</version>
   <description>
 
     Provides an rtt typekit for ROS @pkgname@ messages.

diff --git a/rtt_roscomm/scripts/create_rtt_pkg b/rtt_roscomm/scripts/create_rtt_pkg
@@ -67,7 +67,7 @@ for dep in $(rospack depends $pkgname | grep "_msgs$"); do
   fi
   deplist="$deplist  <build_depend>rtt_$dep</build_depend>\n  <run_depend>rtt_$dep</run_depend>\n"
   rtt_deplist="$rtt_deplist      <plugin_depend>rtt_$dep</plugin_depend>\n"
-  catkin_deplist="$catkin_deplist  rtt_$dep\n"
+  rtt_packages="$rtt_packages rtt_$dep\n"
 done
 
 mkdir $force rtt_$pkgname || { echo "Package already exists, use -f to force creation." ; exit 1; }
@@ -78,7 +78,7 @@ allcappkgname=$(echo $pkgname | tr [:lower:] [:upper:])
 cappkgname=$(echo $allcappkgname | cut -c1)$(echo $pkgname | cut -c2-)
 for i in $files; do
   tgtname=$(echo $(basename "$i") | sed -e "s/pkgname/$pkgname/g;s/Pkgname/$cappkgname/g;")
-  cat "$i" | sed -e "s/@PKGNAME@/$allcappkgname/g;s/@pkgname@/$pkgname/g;s/@Pkgname@/$cappkgname/g;s|@deplist@|$deplist|g;s|@rtt_deplist@|$rtt_deplist|g;s|@catkin_deplist@|$catkin_deplist|g" > rtt_$pkgname/$tgtname
+  cat "$i" | sed -e "s/@PKGNAME@/$allcappkgname/g;s/@pkgname@/$pkgname/g;s/@Pkgname@/$cappkgname/g;s|@deplist@|$deplist|g;s|@rtt_deplist@|$rtt_deplist|g;s|@rtt_packages@|$rtt_packages|g" > rtt_$pkgname/$tgtname
 done
 rm -vf rtt_$pkgname/CATKIN_IGNORE
 

diff --git a/rtt_rosnode/CMakeLists.txt b/rtt_rosnode/CMakeLists.txt
@@ -3,16 +3,13 @@ project(rtt_rosnode)
 
 find_package(catkin REQUIRED COMPONENTS roscpp rtt_ros)
 
-catkin_package(
-#  DEPENDS rtt ocl
-  CATKIN_DEPENDS roscpp )
-
 include_directories(${catkin_INCLUDE_DIRS})
 
 # Create orocos rosnode plugin
 orocos_plugin(rtt_rosnode src/ros_plugin.cpp)
 target_link_libraries(rtt_rosnode ${catkin_LIBRARIES})
 
 # Generate install targets and pkg-config files
-orocos_generate_package()
-
+orocos_generate_package(
+  DEPENDS roscpp
+)
diff --git a/rtt_rospack/CMakeLists.txt b/rtt_rospack/CMakeLists.txt
@@ -7,9 +7,6 @@ find_package(catkin REQUIRED COMPONENTS roslib rtt_ros)
 orocos_plugin(rtt_rospack src/rtt_rospack_service.cpp)
 target_link_libraries(rtt_rospack ${roslib_LIBRARIES})
 
-orocos_generate_package()
-
-catkin_package(
-#  DEPENDS  rtt
-  CATKIN_DEPENDS roslib 
+orocos_generate_package(
+  DEPENDS roslib
 )
diff --git a/rtt_rosparam/CMakeLists.txt b/rtt_rosparam/CMakeLists.txt
@@ -3,11 +3,6 @@ project(rtt_rosparam)
 
 find_package(catkin REQUIRED COMPONENTS roscpp rtt_ros)
 
-catkin_package(
-  INCLUDE_DIRS include
-#  DEPENDS rtt ocl
-  CATKIN_DEPENDS roscpp)
-
 include_directories(
   include
   ${catkin_INCLUDE_DIRS})
@@ -20,6 +15,7 @@ target_link_libraries(rtt_rosparam
 
 # Generate install targets and pkg-config files
 orocos_install_headers(include/rtt_rosparam/rosparam.h)
-orocos_generate_package()
-
-
+orocos_generate_package(
+  INCLUDE_DIRS include
+  DEPENDS roscpp
+)
diff --git a/tests/rtt_ros_tests/CMakeLists.txt b/tests/rtt_ros_tests/CMakeLists.txt
@@ -1,16 +1,13 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(rtt_ros_tests)
 
-find_package(catkin REQUIRED
-  COMPONENTS rtt_ros)
+find_package(catkin REQUIRED COMPONENTS rtt_ros)
 
 if(CATKIN_ENABLE_TESTING)
 
   orocos_use_package(ocl-logging)
   orocos_use_package(ocl-deployment)
 
-  catkin_package()
-
   catkin_add_gtest(rtt_ros_api_tests test/api_tests.cpp)
   target_link_libraries(rtt_ros_api_tests
     ${catkin_LIBRARIES}

diff --git a/tests/rtt_roscomm_tests/CMakeLists.txt b/tests/rtt_roscomm_tests/CMakeLists.txt
@@ -1,16 +1,13 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(rtt_roscomm_tests)
 
-find_package(catkin REQUIRED
-  COMPONENTS rtt_ros rtt_roscomm rtt_std_msgs rostest)
+find_package(catkin REQUIRED COMPONENTS rtt_ros)
 
 if(CATKIN_ENABLE_TESTING)
 
   orocos_use_package(ocl-logging)
   orocos_use_package(ocl-deployment)
 
-  catkin_package()
-
   catkin_add_gtest(rtt_roscomm_api_tests test/api_tests.cpp)
   target_link_libraries(rtt_roscomm_api_tests
     ${catkin_LIBRARIES} 

diff --git a/tests/rtt_roscomm_tests/package.xml b/tests/rtt_roscomm_tests/package.xml
@@ -43,7 +43,6 @@
 
   <build_depend>rtt_roscomm</build_depend>
   <build_depend>rtt_std_msgs</build_depend>
-  <build_depend>rostest</build_depend>
   <build_depend>ocl</build_depend>
 
 

diff --git a/tests/rtt_rospack_tests/CMakeLists.txt b/tests/rtt_rospack_tests/CMakeLists.txt
@@ -1,16 +1,13 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(rtt_rospack_tests)
 
-find_package(catkin REQUIRED
-  COMPONENTS rtt_ros rtt_rospack roslib)
+find_package(catkin REQUIRED COMPONENTS rtt_ros)
 
 if(CATKIN_ENABLE_TESTING)
 
   orocos_use_package(ocl-logging)
   orocos_use_package(ocl-deployment)
 
-  catkin_package()
-
   catkin_add_gtest(rtt_rospack_api_tests test/api_tests.cpp)
   target_link_libraries(rtt_rospack_api_tests
     ${catkin_LIBRARIES}