Merge pull request #71 in SWDEV/franka_ros from SWDEV-553-cmake-rpath to develop

* commit '5deb3a28':
  Fix linker errors when building with -DFranka_DIR

CHANGELOG.md

@@ -5,6 +5,9 @@
 Requires `libfranka` >= 0.3.0
 
   * **BREAKING** Changed signatures in `franka_hw::FrankaModelHandle`
+  * Added missing dependency to `panda_moveit_config`
+  * Fixed linker errors when building with `-DFranka_DIR` while an older version of
+    `ros-kinetic-libfranka` is installed
 
 ## 0.2.2 - 2018-01-31
 

franka_control/CMakeLists.txt

@@ -68,12 +68,15 @@ add_dependencies(franka_state_controller
 )
 
 target_link_libraries(franka_state_controller
+  ${Franka_LIBRARIES}
   ${catkin_LIBRARIES}
-  Franka::Franka
 )
 
-target_include_directories(franka_state_controller PUBLIC
+target_include_directories(franka_state_controller SYSTEM PUBLIC
+  ${Franka_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
+)
+target_include_directories(franka_state_controller PUBLIC
   include
 )
 
@@ -88,12 +91,15 @@ add_dependencies(franka_control_services
 )
 
 target_link_libraries(franka_control_services
+  ${Franka_LIBRARIES}
   ${catkin_LIBRARIES}
-  Franka::Franka
 )
 
-target_include_directories(franka_control_services PUBLIC
+target_include_directories(franka_control_services SYSTEM PUBLIC
+  ${Franka_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
+)
+target_include_directories(franka_control_services PUBLIC
   include
 )
 
@@ -108,12 +114,13 @@ add_dependencies(franka_control_node
 )
 
 target_link_libraries(franka_control_node
-  ${catkin_LIBRARIES}
+  ${Franka_LIBRARIES}
   franka_control_services
-  Franka::Franka
+  ${catkin_LIBRARIES}
 )
 
-target_include_directories(franka_control_node PUBLIC
+target_include_directories(franka_control_node SYSTEM PUBLIC
+  ${Franka_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
 )
 

franka_example_controllers/CMakeLists.txt

@@ -48,8 +48,6 @@ catkin_package(
   DEPENDS Franka
 )
 
-include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})
-
 add_library(franka_example_controllers
   src/cartesian_pose_example_controller.cpp
   src/cartesian_velocity_example_controller.cpp
@@ -69,9 +67,18 @@ add_dependencies(franka_example_controllers
   ${PROJECT_NAME}_gencfg
 )
 
-target_link_libraries(franka_example_controllers
+target_link_libraries(franka_example_controllers PUBLIC
+  ${Franka_LIBRARIES}
   ${catkin_LIBRARIES}
-  Franka::Franka
+)
+
+target_include_directories(franka_example_controllers SYSTEM PUBLIC
+  ${Franka_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+)
+target_include_directories(franka_example_controllers PUBLIC
+  include
 )
 
 ## Installation

franka_gripper/CMakeLists.txt

@@ -50,12 +50,15 @@ add_dependencies(franka_gripper
 )
 
 target_link_libraries(franka_gripper
+  ${Franka_LIBRARIES}
   ${catkin_LIBRARIES}
-   Franka::Franka
 )
 
-target_include_directories(franka_gripper PUBLIC
+target_include_directories(franka_gripper SYSTEM PUBLIC
+  ${Franka_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
+)
+target_include_directories(franka_gripper PUBLIC
   include
 )
 
@@ -74,9 +77,8 @@ target_link_libraries(franka_gripper_node
    franka_gripper
 )
 
-target_include_directories(franka_gripper_node PUBLIC
+target_include_directories(franka_gripper_node SYSTEM PUBLIC
   ${catkin_INCLUDE_DIRS}
-  include
 )
 
 ## Installation

franka_hw/CMakeLists.txt

@@ -33,12 +33,15 @@ add_dependencies(franka_hw
 )
 
 target_link_libraries(franka_hw
+  ${Franka_LIBRARIES}
   ${catkin_LIBRARIES}
-  Franka::Franka
 )
 
-target_include_directories(franka_hw PUBLIC
+target_include_directories(franka_hw SYSTEM PUBLIC
+  ${Franka_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
+)
+target_include_directories(franka_hw PUBLIC
   include
 )
 

franka_visualization/CMakeLists.txt

@@ -20,13 +20,14 @@ add_dependencies(franka_joint_state_publisher
   ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${catkin_EXPORTED_TARGETS}
 )
-target_link_libraries(franka_joint_state_publisher
-  ${catkin_LIBRARIES}
-  Franka::Franka
-)
-target_include_directories(franka_joint_state_publisher PUBLIC
+target_include_directories(franka_joint_state_publisher SYSTEM PUBLIC
+  ${Franka_INCLUDE_DIRS}
   ${catkin_INCLUDE_DIRS}
 )
+target_link_libraries(franka_joint_state_publisher PUBLIC
+  ${Franka_LIBRARIES}
+  ${catkin_LIBRARIES}
+)
 
 ## Installation
 install(TARGETS franka_joint_state_publisher