From cdd17ed0434084244f9cbb48856b75938f9103af Mon Sep 17 00:00:00 2001
From: Paul Beuchat <beuchatp@control.ee.ethz.ch>
Date: Fri, 27 Apr 2018 08:31:06 +0200
Subject: [PATCH] Adapted CMakeList to onlz compile ViconDataPublisher when the
DataStreamSDK library is available
---
pps_ws/src/d_fall_pps/CMakeLists.txt | 36 ++++++++++++++++++++++++----
1 file changed, 31 insertions(+), 5 deletions(-)
diff --git a/pps_ws/src/d_fall_pps/CMakeLists.txt b/pps_ws/src/d_fall_pps/CMakeLists.txt
index e9ebf874..12a01520 100755
--- a/pps_ws/src/d_fall_pps/CMakeLists.txt
+++ b/pps_ws/src/d_fall_pps/CMakeLists.txt
@@ -19,6 +19,25 @@ find_package(catkin REQUIRED COMPONENTS
find_package (Eigen3 3.3 REQUIRED NO_MODULE)
+
+# VICON DATASTREAM SDK PACKAGE
+# Ensure that the cache variable where the result would be stored is clear
+message(STATUS "NOTE: Prior to being unset: VICON_LIBRARY = " ${VICON_LIBRARY})
+unset(VICON_LIBRARY CACHE)
+message(STATUS "NOTE: After being unset: VICON_LIBRARY = " ${VICON_LIBRARY})
+
+# Find the Vicon Data Stream SDK Pacakge
+find_library(VICON_LIBRARY ViconDataStreamSDK_CPP PATHS lib/vicon NO_DEFAULT_PATH)
+message(STATUS "NOTE: After calling find_library(): VICON_LIBRARY = " ${VICON_LIBRARY})
+
+# Let the user know if the library was found or not
+if(VICON_LIBRARY)
+ message(STATUS "NOTE: the Vicon Data Stream SDK library was found")
+else()
+ message(STATUS "NOTE: the Vicon Data Stream SDK library was NOT found")
+endif()
+
+
# GUI -- Add precompiler definitions to include ROS things in GUI compilation
add_definitions(-DCATKIN_MAKE)
@@ -240,7 +259,10 @@ include_directories(
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/d_fall_pps_node.cpp)
-add_executable(ViconDataPublisher src/nodes/ViconDataPublisher.cpp)
+if(VICON_LIBRARY)
+ add_executable(ViconDataPublisher src/nodes/ViconDataPublisher.cpp)
+endif()
+
add_executable(PPSClient src/nodes/PPSClient.cpp)
add_executable(SafeControllerService src/nodes/SafeControllerService.cpp)
add_executable(DemoControllerService src/nodes/DemoControllerService.cpp)
@@ -289,8 +311,10 @@ qt5_use_modules(student_GUI Widgets)
+if(VICON_LIBRARY)
+ add_dependencies(ViconDataPublisher d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+endif()
-add_dependencies(ViconDataPublisher d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(PPSClient d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(SafeControllerService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(DemoControllerService d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
@@ -320,10 +344,12 @@ add_dependencies(student_GUI d_fall_pps_generate_messages_cpp ${catkin_EXPORTED_
# ${catkin_LIBRARIES}
# )
-find_library(VICON_LIBRARY ViconDataStreamSDK_CPP HINTS lib/vicon)
+# find_library(VICON_LIBRARY ViconDataStreamSDK_CPP HINTS lib/vicon)
-target_link_libraries(ViconDataPublisher ${catkin_LIBRARIES})
-target_link_libraries(ViconDataPublisher ${VICON_LIBRARY})
+if(VICON_LIBRARY)
+ target_link_libraries(ViconDataPublisher ${catkin_LIBRARIES})
+ target_link_libraries(ViconDataPublisher ${VICON_LIBRARY})
+endif()
target_link_libraries(PPSClient ${catkin_LIBRARIES})
target_link_libraries(SafeControllerService ${catkin_LIBRARIES})
--
GitLab