Minor fixes for orocos_kdl in cmake. Clean up pr2 gripper transmission.

[hsu]

No description provided.

[ahendrix]

This is the second pull request I've seen that adds orocos_kdl as a dependency, where it wasn't needed before. Can you explain what change made this necessary?

[hsu]

hm, all I know is without it, my local build fails. For example, reverting pr2_controller_manager/CMakeLists.txt yields:

Linking CXX shared library /home/hsu/projects/catkin_ws/hydro/devel/lib/libcontroller_test.so
cd /home/hsu/projects/catkin_ws/hydro/build/pr2_mechanism/pr2_controller_manager && /usr/bin/cmake -E cmake_link_script CMakeFiles/controller_test.dir/link.txt --verbose=1
/usr/bin/c++  -fPIC    -shared -Wl,-soname,libcontroller_test.so -o /home/hsu/projects/catkin_ws/hydro/devel/lib/libcontroller_test.so CMakeFiles/controller_test.dir/test/controllers/test_controller.cpp.o /opt/ros/hydro/lib/libroscpp.so -lpthread -lboost_signals-mt -lboost_filesystem-mt -lboost_system-mt /opt/ros/hydro/lib/libcpp_common.so /opt/ros/hydro/lib/libroscpp_serialization.so /opt/ros/hydro/lib/librostime.so -lboost_date_time-mt -lboost_thread-mt /opt/ros/hydro/lib/librosconsole.so -lboost_regex-mt -llog4cxx /opt/ros/hydro/lib/libxmlrpcpp.so /home/hsu/projects/catkin_ws/hydro/devel/lib/libpr2_mechanism_model.so /opt/ros/hydro/lib/liburdfdom_sensor.so /opt/ros/hydro/lib/liburdfdom_model_state.so /opt/ros/hydro/lib/liburdfdom_model.so /opt/ros/hydro/lib/liburdfdom_world.so /opt/ros/hydro/lib/libconsole_bridge.so /home/hsu/projects/catkin_ws/hydro/devel/lib/liburdf.so /opt/ros/hydro/lib/librosconsole_bridge.so /home/hsu/projects/catkin_ws/hydro/devel/lib/libkdl_parser.so -ltinyxml /opt/ros/hydro/lib/libclass_loader.so -lPocoFoundation -ldl /opt/ros/hydro/lib/libroslib.so /home/hsu/projects/catkin_ws/hydro/devel/lib/librealtime_tools.so -lboost_system-mt -lboost_thread-mt /home/hsu/projects/catkin_ws/hydro/devel/lib/liburdf.so /opt/ros/hydro/lib/libroscpp.so -lpthread -lboost_signals-mt -lboost_filesystem-mt -lboost_system-mt /opt/ros/hydro/lib/libcpp_common.so /opt/ros/hydro/lib/libroscpp_serialization.so /opt/ros/hydro/lib/librostime.so -lboost_date_time-mt -lboost_thread-mt /opt/ros/hydro/lib/librosconsole.so -lboost_regex-mt -llog4cxx /opt/ros/hydro/lib/libxmlrpcpp.so /opt/ros/hydro/lib/liburdfdom_sensor.so /opt/ros/hydro/lib/liburdfdom_model_state.so /opt/ros/hydro/lib/liburdfdom_model.so /opt/ros/hydro/lib/liburdfdom_world.so /opt/ros/hydro/lib/libconsole_bridge.so /opt/ros/hydro/lib/librosconsole_bridge.so -ltinyxml /opt/ros/hydro/lib/libclass_loader.so -lPocoFoundation -ldl /opt/ros/hydro/lib/libroslib.so -lorocos-kdl -Wl,-rpath,/home/hsu/projects/catkin_ws/hydro/devel/lib:/opt/ros/hydro/lib::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::: 
/usr/bin/ld: cannot find -lorocos-kdl
collect2: ld returned 1 exit status
make[2]: *** [/home/hsu/projects/catkin_ws/hydro/devel/lib/libcontroller_test.so] Error 1
make[2]: Leaving directory `/home/hsu/projects/catkin_ws/hydro/build'
make[1]: *** [pr2_mechanism/pr2_controller_manager/CMakeFiles/controller_test.dir/all] Error 2
make[1]: Leaving directory `/home/hsu/projects/catkin_ws/hydro/build'
make: *** [all] Error 2

[ahendrix]

Cherry-picked the pr2 gripper transmission cleanup into hydro-devel.