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Export a tf2_bullet::tf2_bullet target #495

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merged 2 commits into from
Mar 30, 2022
Merged

Export a tf2_bullet::tf2_bullet target #495

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8a94e31
Export a tf2_bullet::tf2_bullet target
sloretz Jan 8, 2022
a51cd7f
Add in bullet compile definitions
sloretz Jan 8, 2022
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26 changes: 15 additions & 11 deletions tf2_bullet/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -16,12 +16,19 @@ find_package(geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)

if(WIN32)
set(BULLET_ROOT $ENV{ChocolateyInstall}/lib/bullet)
endif()
find_package(Bullet REQUIRED)
include(bullet-extras.cmake)

add_library(tf2_bullet INTERFACE)
target_include_directories(tf2_bullet INTERFACE
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>")
target_link_libraries(tf2_bullet INTERFACE
tf2_bullet::Bullet
tf2::tf2
${geometry_msgs_TARGETS}
tf2_ros::tf2_ros)

include_directories(include ${BULLET_INCLUDE_DIRS})
install(TARGETS tf2_bullet EXPORT export_tf2_bullet)

install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include/${PROJECT_NAME}
Expand All @@ -38,12 +45,9 @@ if(BUILD_TESTING)

find_package(ament_cmake_gtest REQUIRED)
ament_add_gtest(test_bullet test/test_tf2_bullet.cpp)
ament_target_dependencies(test_bullet
tf2
geometry_msgs
tf2_ros
)
target_link_libraries(test_bullet tf2_bullet)
endif()

ament_export_include_directories(include)
ament_export_targets(export_tf2_bullet)

ament_package(CONFIG_EXTRAS bullet-extras.cmake)
8 changes: 7 additions & 1 deletion tf2_bullet/bullet-extras.cmake
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Expand Up @@ -26,9 +26,15 @@
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.

# Bullet CMake only exports old-style CMake variables.
# This script makes an imported target for them.

if(WIN32)
set(BULLET_ROOT $ENV{ChocolateyInstall}/lib/bullet)
endif()
find_package(Bullet REQUIRED)

include_directories(SYSTEM ${BULLET_INCLUDE_DIRS})
add_library(tf2_bullet::Bullet INTERFACE IMPORTED)
target_include_directories(tf2_bullet::Bullet INTERFACE ${BULLET_INCLUDE_DIRS})
target_link_libraries(tf2_bullet::Bullet INTERFACE ${BULLET_LIBRARIES})
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target_compile_definitions(tf2_bullet::Bullet INTERFACE ${BULLET_DEFINITIONS})