<commit_before>cmake_minimum_required(VERSION 2.8.3)

project(fanuc_driver)

# let industrial_robot_client pull in all other dependencies
find_package(catkin REQUIRED COMPONENTS industrial_robot_client)

catkin_package(
  CATKIN_DEPENDS industrial_robot_client
)

# these nodes run on the host computer, so use Linux sockets for
# simple_message sockets
add_definitions(-DLINUXSOCKETS=1)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)


# Little Endian Fanuc specific robot state node
add_executable(${PROJECT_NAME}_robot_state
  src/fanuc_robot_state_node.cpp
  src/fanuc_utils.cpp)
target_link_libraries(${PROJECT_NAME}_robot_state
  industrial_robot_client
  simple_message
  ${catkin_LIBRARIES})
set_target_properties(${PROJECT_NAME}_robot_state
  PROPERTIES OUTPUT_NAME robot_state
  PREFIX "")


# Big Endian Fanuc specific robot state node
add_executable(${PROJECT_NAME}_robot_state_bswap
  src/fanuc_robot_state_node.cpp
  src/fanuc_utils.cpp)
target_link_libraries(${PROJECT_NAME}_robot_state_bswap
  industrial_robot_client_bswap
  simple_message_bswap
  ${catkin_LIBRARIES})
set_target_properties(${PROJECT_NAME}_robot_state_bswap
  PROPERTIES OUTPUT_NAME robot_state_bswap
  PREFIX "")


# Little Endian Fanuc specific motion streaming interface
add_executable(${PROJECT_NAME}_motion_streaming_interface
  src/fanuc_joint_streamer_node.cpp
  src/fanuc_utils.cpp)
target_link_libraries(${PROJECT_NAME}_motion_streaming_interface
  industrial_robot_client
  simple_message
  ${catkin_LIBRARIES})
set_target_properties(${PROJECT_NAME}_motion_streaming_interface
  PROPERTIES OUTPUT_NAME motion_streaming_interface
  PREFIX "")


# Big Endian Fanuc specific motion streaming interface
add_executable(${PROJECT_NAME}_motion_streaming_interface_bswap
  src/fanuc_joint_streamer_node.cpp
  src/fanuc_utils.cpp)
target_link_libraries(${PROJECT_NAME}_motion_streaming_interface_bswap
  industrial_robot_client_bswap
  simple_message_bswap
  ${catkin_LIBRARIES})
set_target_properties(${PROJECT_NAME}_motion_streaming_interface_bswap
  PROPERTIES OUTPUT_NAME motion_streaming_interface_bswap
  PREFIX "")


if (CATKIN_ENABLE_TESTING)
  find_package(roslaunch REQUIRED)
  roslaunch_add_file_check(tests/roslaunch_test.xml)
endif()


install(TARGETS
  ${PROJECT_NAME}_robot_state
  ${PROJECT_NAME}_robot_state_bswap

  ${PROJECT_NAME}_motion_streaming_interface
  ${PROJECT_NAME}_motion_streaming_interface_bswap

  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

foreach(dir KAREL launch TPE)
  install(
    DIRECTORY ${dir}/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach(dir)
<commit_msg>driver: also update install rule. For #23.<commit_after>cmake_minimum_required(VERSION 2.8.3)

project(fanuc_driver)

# let industrial_robot_client pull in all other dependencies
find_package(catkin REQUIRED COMPONENTS industrial_robot_client)

catkin_package(
  CATKIN_DEPENDS industrial_robot_client
)

# these nodes run on the host computer, so use Linux sockets for
# simple_message sockets
add_definitions(-DLINUXSOCKETS=1)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)


# Little Endian Fanuc specific robot state node
add_executable(${PROJECT_NAME}_robot_state
  src/fanuc_robot_state_node.cpp
  src/fanuc_utils.cpp)
target_link_libraries(${PROJECT_NAME}_robot_state
  industrial_robot_client
  simple_message
  ${catkin_LIBRARIES})
set_target_properties(${PROJECT_NAME}_robot_state
  PROPERTIES OUTPUT_NAME robot_state
  PREFIX "")


# Big Endian Fanuc specific robot state node
add_executable(${PROJECT_NAME}_robot_state_bswap
  src/fanuc_robot_state_node.cpp
  src/fanuc_utils.cpp)
target_link_libraries(${PROJECT_NAME}_robot_state_bswap
  industrial_robot_client_bswap
  simple_message_bswap
  ${catkin_LIBRARIES})
set_target_properties(${PROJECT_NAME}_robot_state_bswap
  PROPERTIES OUTPUT_NAME robot_state_bswap
  PREFIX "")


# Little Endian Fanuc specific motion streaming interface
add_executable(${PROJECT_NAME}_motion_streaming_interface
  src/fanuc_joint_streamer_node.cpp
  src/fanuc_utils.cpp)
target_link_libraries(${PROJECT_NAME}_motion_streaming_interface
  industrial_robot_client
  simple_message
  ${catkin_LIBRARIES})
set_target_properties(${PROJECT_NAME}_motion_streaming_interface
  PROPERTIES OUTPUT_NAME motion_streaming_interface
  PREFIX "")


# Big Endian Fanuc specific motion streaming interface
add_executable(${PROJECT_NAME}_motion_streaming_interface_bswap
  src/fanuc_joint_streamer_node.cpp
  src/fanuc_utils.cpp)
target_link_libraries(${PROJECT_NAME}_motion_streaming_interface_bswap
  industrial_robot_client_bswap
  simple_message_bswap
  ${catkin_LIBRARIES})
set_target_properties(${PROJECT_NAME}_motion_streaming_interface_bswap
  PROPERTIES OUTPUT_NAME motion_streaming_interface_bswap
  PREFIX "")


if (CATKIN_ENABLE_TESTING)
  find_package(roslaunch REQUIRED)
  roslaunch_add_file_check(tests/roslaunch_test.xml)
endif()


install(TARGETS
  ${PROJECT_NAME}_robot_state
  ${PROJECT_NAME}_robot_state_bswap

  ${PROJECT_NAME}_motion_streaming_interface
  ${PROJECT_NAME}_motion_streaming_interface_bswap

  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

foreach(dir karel launch tpe)
  install(
    DIRECTORY ${dir}/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
endforeach(dir)

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