CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(oro_barrett_sim)

find_package(catkin REQUIRED 
  cmake_modules 
  control_toolbox 
  urdf
  kdl_parser
  rtt_ros
  rtt_ros_tools
  angles
  )

find_package(Eigen REQUIRED)
find_package(orocos_kdl REQUIRED)
find_package(Gazebo REQUIRED)

include_directories(include 
  ${GAZEBO_INCLUDE_DIRS}
  ${Eigen_INCLUDE_DIRS}
  ${catkin_INCLUDE_DIRS}
  ${orocos_kdl_INCLUDE_DIRS}
  ${USE_OROCOS_INCLUDE_DIRS})

add_definitions(
  ${Eigen_DEFINITIONS})

orocos_component(barrett_sim_manager
  src/barrett_sim_manager.cpp
  src/hand_sim_device.cpp)
#message(STATUS "--- ${USE_OROCOS_LIBRARIES}")
target_link_libraries(barrett_sim_manager
  ${GAZEBO_LIBRARIES}
  ${kdl_parser_LIBRARIES}
  ${urdf_LIBRARIES}
  ${orocos_kdl_LIBRARIES})

if(CATKIN_ENABLE_TESTING)
  orocos_use_package(ocl-deployment)
  orocos_use_package(ocl-taskbrowser)
endif()

orocos_generate_package(
  INCLUDE_DIRS include
  DEPENDS_TARGETS oro_barrett_interface)