Revision: 8620
http://playerstage.svn.sourceforge.net/playerstage/?rev=8620&view=rev
Author: natepak
Date: 2010-04-24 17:42:52 +0000 (Sat, 24 Apr 2010)
Log Message:
-----------
Updated the gazeboserver pkgconfig
Modified Paths:
--------------
code/gazebo/trunk/CMakeLists.txt
code/gazebo/trunk/cmake/FindOde.cmake
code/gazebo/trunk/cmake/GazeboUtils.cmake
code/gazebo/trunk/cmake/SearchForStuff.cmake
code/gazebo/trunk/server/CMakeLists.txt
Added Paths:
-----------
code/gazebo/trunk/cmake/gazeboserver_pkgconfig.cmake
Modified: code/gazebo/trunk/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/CMakeLists.txt 2010-04-24 01:27:34 UTC (rev 8619)
+++ code/gazebo/trunk/CMakeLists.txt 2010-04-24 17:42:52 UTC (rev 8620)
@@ -30,6 +30,8 @@
CACHE INTERNAL "Link dirs description" FORCE)
set (gazeboserver_link_libs_desc "List of server link libraries"
CACHE INTERNAL "Link libs description" FORCE)
+set (gazeboserver_ldflags_desc "List of server ldflags"
+ CACHE INTERNAL "LDFlags description" FORCE)
set (gazeboserver_cflags_desc "List of server cflags"
CACHE INTERNAL "Server cflags description" FORCE)
set (gazebosensor_sources_desc "List of sensor sources"
Modified: code/gazebo/trunk/cmake/FindOde.cmake
===================================================================
--- code/gazebo/trunk/cmake/FindOde.cmake 2010-04-24 01:27:34 UTC (rev
8619)
+++ code/gazebo/trunk/cmake/FindOde.cmake 2010-04-24 17:42:52 UTC (rev
8620)
@@ -59,7 +59,7 @@
APPEND_TO_CACHED_LIST(gazeboserver_link_libs
${gazeboserver_link_libs_desc}
${ODE_LIBRARIES})
- APPEND_TO_CACHED_LIST(gazeboserver_link_libs
- ${gazeboserver_link_libs_desc}
+ APPEND_TO_CACHED_LIST(gazeboserver_ldflags
+ ${gazeboserver_ldflags_desc}
${ODE_LDFLAGS})
ENDIF (NOT ODE_FOUND)
Modified: code/gazebo/trunk/cmake/GazeboUtils.cmake
===================================================================
--- code/gazebo/trunk/cmake/GazeboUtils.cmake 2010-04-24 01:27:34 UTC (rev
8619)
+++ code/gazebo/trunk/cmake/GazeboUtils.cmake 2010-04-24 17:42:52 UTC (rev
8620)
@@ -92,6 +92,8 @@
${gazeboserver_link_dirs_desc} FORCE)
SET (gazeboserver_link_libs "" CACHE INTERNAL
${gazeboserver_link_libs_desc} FORCE)
+ SET (gazeboserver_ldflags "" CACHE INTERNAL
+ ${gazeboserver_ldflags_desc} FORCE)
SET (gazeboserver_cflags "" CACHE INTERNAL
${gazeboserver_cflags_desc} FORCE)
SET (gazebosensor_sources "" CACHE INTERNAL
Modified: code/gazebo/trunk/cmake/SearchForStuff.cmake
===================================================================
--- code/gazebo/trunk/cmake/SearchForStuff.cmake 2010-04-24 01:27:34 UTC
(rev 8619)
+++ code/gazebo/trunk/cmake/SearchForStuff.cmake 2010-04-24 17:42:52 UTC
(rev 8620)
@@ -16,7 +16,7 @@
set (bullet_include_dirs "" CACHE STRING "Bullet include paths. Use this to
override automatic detection.")
set (bullet_library_dirs "" CACHE STRING "Bullet library paths. Use this to
override automatic detection.")
-set (bullet_lflags "" CACHE STRING "Bullet libraries Use this to override
automatic detection.")
+set (bullet_lflags "" CACHE STRING "Bullet lflags Use this to override
automatic detection.")
set (bullet_cflags "-DBT_USE_DOUBLE_PRECISION -DBT_EULER_DEFAULT_ZYX" CACHE
STRING "Bullet Dynamics C compile flags exported by rospack.")
set (threadpool_include_dirs "" CACHE STRING "Threadpool include paths. Use
this to override automatic detection.")
@@ -46,42 +46,53 @@
# Find packages
if (PKG_CONFIG_FOUND)
- pkg_check_modules(OGRE OGRE>=${MIN_OGRE_VERSION})
- if (NOT OGRE_FOUND)
- BUILD_ERROR("Ogre3d version >=${MIN_OGRE_VERSION} and development files
not found. See the following website for installation instructions:
http://www.orge3d.org";)
- else (NOT OGRE_FOUND)
-
- set (OGRE_LIBRARY_PATH ${OGRE_LIBRARY_DIRS} CACHE INTERNAL "Ogre library
path")
- APPEND_TO_CACHED_LIST(gazeboserver_include_dirs
- ${gazeboserver_include_dirs_desc}
- ${OGRE_INCLUDE_DIRS})
- APPEND_TO_CACHED_LIST(gazeboserver_link_dirs
- ${gazeboserver_link_dirs_desc}
- ${OGRE_LIBRARY_DIRS})
- APPEND_TO_CACHED_LIST(gazeboserver_link_libs
- ${gazeboserver_link_libs_desc}
- ${OGRE_LINK_LIBS})
- APPEND_TO_CACHED_LIST(gazeboserver_link_libs
- ${gazeboserver_link_libs_desc}
- ${OGRE_LIBRARIES})
- APPEND_TO_CACHED_LIST(gazeboserver_link_libs
- ${gazeboserver_link_libs_desc}
- ${OGRE_LDFLAGS})
+ #################################################
+ # Find OGRE
+ pkg_check_modules(OGRE-RTShaderSystem
OGRE-RTShaderSystem>=${MIN_OGRE_VERSION})
+ if (OGRE-RTShaderSystem_FOUND)
- # Try to find the OGRE RTShaderSystem library
- find_library(ogre_rtshader_lib OgreRTShaderSystem ${OGRE_LIBRARY_DIRS} ENV
LD_LIBRARY_PATH)
- if (ogre_rtshader_lib)
- APPEND_TO_CACHED_LIST(gazeboserver_link_libs
- ${gazeboserver_link_libs_desc}
- ${ogre_rtshader_lib})
+ set(ogre_ldflags ${OGRE-RTShaderSystem_LDFLAGS})
+ set(ogre_include_dirs ${OGRE-RTShaderSystem_INCLUDE_DIRS})
+ set(ogre_library_dirs ${OGRE-RTShaderSystem_LIBRARY_DIRS})
+ set(ogre_libraries ${OGRE-RTShaderSystem_LIBRARIES})
add_definitions(-DUSE_RTSHADER_SYSTEM)
- #add_definitions(-DRTSHADER_SYSTEM_BUILD_CORE_SHADERS)
- #add_definitions(-DRTSHADER_SYSTEM_BUILD_EXT_SHADERS)
- endif (ogre_rtshader_lib)
- endif (NOT OGRE_FOUND)
+ else (OGRE-RTShaderSystem_FOUND)
+ pkg_check_modules(OGRE OGRE>=${MIN_OGRE_VERSION})
+ if (NOT OGRE_FOUND)
+ BUILD_ERROR("Ogre3d version >=${MIN_OGRE_VERSION} and development files
not found. See the following website for installation instructions:
http://www.orge3d.org";)
+ else (NOT OGRE_FOUND)
+ set(ogre_ldflags ${OGRE_LDFLAGS})
+ set(ogre_include_dirs ${OGRE_INCLUDE_DIRS})
+ set(ogre_library_dirs ${OGRE_LIBRARY_DIRS})
+ set(ogre_libraries ${OGRE_LIBRARIES})
+ endif (NOT OGRE_FOUND)
+
+ endif (OGRE-RTShaderSystem_FOUND)
+
+ set (OGRE_LIBRARY_PATH ${ogre_library_dirs} CACHE INTERNAL "Ogre library
path")
+
+ APPEND_TO_CACHED_LIST(gazeboserver_include_dirs
+ ${gazeboserver_include_dirs_desc}
+ ${ogre_include_dirs})
+ APPEND_TO_CACHED_LIST(gazeboserver_link_dirs
+ ${gazeboserver_link_dirs_desc}
+ ${ogre_library_dirs})
+ APPEND_TO_CACHED_LIST(gazeboserver_link_libs
+ ${gazeboserver_link_libs_desc}
+ ${ogre_link_libs})
+ APPEND_TO_CACHED_LIST(gazeboserver_link_libs
+ ${gazeboserver_link_libs_desc}
+ ${ogre_libraries})
+ APPEND_TO_CACHED_LIST(gazeboserver_ldflags
+ ${gazeboserver_ldflags_desc}
+ ${ogre_ldflags})
+
+
+ #################################################
+ # Find XML
pkg_check_modules(XML libxml-2.0)
IF (NOT XML_FOUND)
BUILD_ERROR("libxml2 and development files not found. See the following
website: http://www.xmlsoft.org";)
@@ -98,6 +109,9 @@
APPEND_TO_CACHED_LIST(gazeboserver_link_libs
${gazeboserver_link_libs_desc}
${XML_LIBRARIES})
+ APPEND_TO_CACHED_LIST(gazeboserver_ldflags
+ ${gazeboserver_ldflags_desc}
+ ${XML_LDFLAGS})
ENDIF (NOT XML_FOUND)
pkg_check_modules(XFT xft)
@@ -401,7 +415,6 @@
# Find bullet
if (NOT bullet_include_dirs AND NOT bullet_library_dirs AND NOT bullet_lflags )
-
find_path(bullet_include_dir btBulletDynamicsCommon.h ${bullet_include_dirs}
ENV CPATH)
if (NOT bullet_include_dir)
@@ -424,30 +437,34 @@
message (STATUS "Looking for libBulletDynamics - not found.")
else (NOT bullet_dynamics_library)
message (STATUS "Looking for libBulletDynamics - found")
- APPEND_TO_CACHED_List(bullet_lflags "bullet libraries Use this to override
automatic detection." ${bullet_dynamics_library})
+ APPEND_TO_CACHED_List(bullet_lflags "bullet libraries Use this to override
automatic detection." -lBulletDynamics)
endif (NOT bullet_dynamics_library)
if (NOT bullet_collision_library)
message (STATUS "Looking for libBulletCollision - not found.")
else (NOT bullet_collision_library)
message (STATUS "Looking for libBulletCollision - found")
- APPEND_TO_CACHED_List(bullet_lflags "bullet libraries Use this to override
automatic detection." ${bullet_collision_library})
+ APPEND_TO_CACHED_List(bullet_lflags "bullet libraries Use this to override
automatic detection." -lBulletCollision)
endif (NOT bullet_collision_library)
if (NOT bullet_math_library)
message (STATUS "Looking for libLinearMath - not found.")
else (NOT bullet_math_library)
message (STATUS "Looking for libLinearMath - found")
- APPEND_TO_CACHED_List(bullet_lflags "bullet libraries Use this to override
automatic detection." ${bullet_math_library})
+ APPEND_TO_CACHED_List(bullet_lflags "bullet libraries Use this to override
automatic detection." -lLinearMath)
endif (NOT bullet_math_library)
if (NOT bullet_softbody_library)
message (STATUS "Looking for libBulletSoftBody - not found.")
else (NOT bullet_softbody_library)
message (STATUS "Looking for libBulletSoftBody - found")
- APPEND_TO_CACHED_List(bullet_lflags "bullet libraries Use this to override
automatic detection." ${bullet_softbody_library})
+ APPEND_TO_CACHED_List(bullet_lflags "bullet libraries Use this to override
automatic detection." -lBulletSoftBody)
endif (NOT bullet_softbody_library)
+ APPEND_TO_CACHED_LIST(gazeboserver_ldflags
+ ${gazeboserver_ldflags_desc}
+ ${bullet_lflags})
+
if (NOT bullet_include_dir OR NOT bullet_dynamics_library)
set (INCLUDE_BULLET OFF CACHE BOOL "Include Bullet" FORCE)
else (NOT bullet_include_dir OR NOT bullet_dynamics_library)
Added: code/gazebo/trunk/cmake/gazeboserver_pkgconfig.cmake
===================================================================
--- code/gazebo/trunk/cmake/gazeboserver_pkgconfig.cmake
(rev 0)
+++ code/gazebo/trunk/cmake/gazeboserver_pkgconfig.cmake 2010-04-24
17:42:52 UTC (rev 8620)
@@ -0,0 +1,10 @@
+pref...@cmake_install_prefix@
+libdir=${prefix}/lib
+includedir=${prefix}/include
+
+Name: gazeboserver
+Description: Gazebo server
+Version: @GAZEBO_VERSION@
+Requires:
+Libs: -L${libdir} -lgazebo_server -lgazebo @gazeboserver_ldflags@
+CFlags: -I${includedir}
Modified: code/gazebo/trunk/server/CMakeLists.txt
===================================================================
--- code/gazebo/trunk/server/CMakeLists.txt 2010-04-24 01:27:34 UTC (rev
8619)
+++ code/gazebo/trunk/server/CMakeLists.txt 2010-04-24 17:42:52 UTC (rev
8620)
@@ -2,15 +2,20 @@
########################################
# Include all the search paths for headers
-STRING (REPLACE " " ";" boost_include_dirs_split "${boost_include_dirs}")
-STRING (REPLACE " " ";" assimp_include_dirs_split "${assimp_include_dirs}")
-STRING (REPLACE " " ";" bullet_include_dirs_split "${bullet_include_dirs}")
-STRING (REPLACE " " ";" threadpool_include_dirs_split
"${threadpool_include_dirs}")
-STRING (REPLACE " " ";" boost_library_dirs_split "${boost_library_dirs}")
-STRING (REPLACE " " ";" assimp_library_dirs_split "${assimp_library_dirs}")
-STRING (REPLACE " " ";" bullet_library_dirs_split "${bullet_library_dirs}")
+#STRING (REPLACE " " ";" boost_include_dirs_split "${boost_include_dirs}")
+#STRING (REPLACE " " ";" assimp_include_dirs_split "${assimp_include_dirs}")
+#STRING (REPLACE " " ";" bullet_include_dirs_split "${bullet_include_dirs}")
+#STRING (REPLACE " " ";" threadpool_include_dirs_split
"${threadpool_include_dirs}")
+#STRING (REPLACE " " ";" boost_library_dirs_split "${boost_library_dirs}")
+#STRING (REPLACE " " ";" assimp_library_dirs_split "${assimp_library_dirs}")
+#STRING (REPLACE " " ";" bullet_library_dirs_split "${bullet_library_dirs}")
+APPEND_TO_CACHED_LIST(gazeboserver_ldflags
+ ${gazeboserver_ldflags_desc}
+ -lassimp -lgazebo_physics -lgazebo_physics_ode
-lgazebo_av -lgazebo_gui -lgazebo_rendering)
+STRING (REPLACE ";" " " gazeboserver_ldflags "${gazeboserver_ldflags}")
+message(STATUS "SERVER LDFLAGS ${gazeboserver_ldflags}")
INCLUDE_DIRECTORIES(
.
@@ -166,13 +171,14 @@
assimp
)
+
target_link_libraries( gazebo_server ${libtool_library} ${freeimage_library}
gazebo gazebo_rendering gazebo_physics )
if (INCLUDE_BULLET)
#target_link_libraries(gazebo_server ${bullet_lflags} gazebo_physics_bullet )
#target_link_libraries(gazebo-exec ${bullet_lflags} gazebo_physics_bullet )
- #string (REPLACE " " ";" bullet_libraries_split "${bullet_lflags}")
+ #string (REPLACE " " ";" bullet_lflags_split "${bullet_lflags}")
target_link_libraries(gazebo_server ${bullet_lflags} gazebo_physics_bullet )
target_link_libraries(gazebo-exec ${bullet_lflags} gazebo_physics_bullet )
endif (INCLUDE_BULLET)
@@ -183,6 +189,11 @@
endif (INCLUDE_ODE)
+configure_file(${CMAKE_SOURCE_DIR}/cmake/gazeboserver_pkgconfig.cmake
${CMAKE_CURRENT_BINARY_DIR}/gazeboserver.pc @ONLY)
+install(FILES ${CMAKE_CURRENT_BINARY_DIR}/gazeboserver.pc DESTINATION
${CMAKE_INSTALL_PREFIX}/lib/pkgconfig COMPONENT pkgconfig)
+
+
+
install (TARGETS gazebo_server DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
install (TARGETS gazebo-exec DESTINATION ${CMAKE_INSTALL_PREFIX}/bin)
install (FILES ${gazeboserver_headers} DESTINATION
${CMAKE_INSTALL_PREFIX}/include/gazebo COMPONENT headers)
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