CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(hcrl_gazebo)

find_package(catkin REQUIRED COMPONENTS
        gazebo_dev
        roscpp
        std_msgs
        control_toolbox
        controller_manager
        hardware_interface
        transmission_interface
        pluginlib
        joint_limits_interface
        urdf
        angles
)

catkin_package(
        INCLUDE_DIRS include
        LIBRARIES ${PROJECT_NAME}
        CATKIN_DEPENDS
        roscpp
        std_msgs
        controller_manager
        control_toolbox
        pluginlib
        hardware_interface
        transmission_interface
        joint_limits_interface
        urdf
        angles
        hardware_interface)

install(DIRECTORY launch models worlds maps photos robots
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)


include_directories(include ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS})

add_library(${PROJECT_NAME}_ros_control_plugin src/stretch_hardware_gazebo_plugin.cpp)
target_link_libraries(${PROJECT_NAME}_ros_control_plugin ${catkin_LIBRARIES})

add_library(${PROJECT_NAME} src/stretch_hardware_gazebo.cpp)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})


install(TARGETS ${PROJECT_NAME}
        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
        )

install(DIRECTORY include/
        DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
        FILES_MATCHING PATTERN "*.h"
        )
install (FILES hcrl_gazebo_plugins.xml
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})


catkin_install_python(PROGRAMS scripts/fake_realsense_modes scripts/follow_joint_trajectory_server scripts/unpause_after_wait
        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})