Update CMakeLists.txt and package.xml

combined_robot_hw/CMakeLists.txt

@@ -1,33 +1,50 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(combined_robot_hw)
 
+# Load catkin and all dependencies required for this package
 find_package(catkin REQUIRED COMPONENTS
   hardware_interface
   pluginlib
   roscpp
 )
 
-include_directories(include ${catkin_INCLUDE_DIRS})
-
+# Declare a catkin package
 catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
-  CATKIN_DEPENDS hardware_interface pluginlib roscpp
+  INCLUDE_DIRS
+    include
+  LIBRARIES
+    ${PROJECT_NAME}
+  CATKIN_DEPENDS
+    hardware_interface
+    pluginlib
+    roscpp
 )
 
-add_library(${PROJECT_NAME}
-  src/combined_robot_hw.cpp
-)
+
+###########
+## Build ##
+###########
+
+# Specify header include paths
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+add_library(${PROJECT_NAME} src/combined_robot_hw.cpp)
 add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
+
 
+#############
+## Install ##
+#############
 
-# Install
+# Install headers
 install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
 
-# Install library
+# Install targets
 install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)

combined_robot_hw/package.xml

@@ -1,8 +1,8 @@
-<?xml version="1.0"?>
 <package format="2">
   <name>combined_robot_hw</name>
   <version>0.15.1</version>
   <description>Combined Robot HW class.</description>
+
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="toni@shadowrobot.com">Toni Oliver</maintainer>
   <maintainer email="enrique.fernandez.perdomo@gmail.com">Enrique Fernandez</maintainer>
@@ -17,6 +17,7 @@
   <author email="toni@shadowrobot.com">Toni Oliver</author>
 
   <buildtool_depend>catkin</buildtool_depend>
+
   <depend>hardware_interface</depend>
   <depend>pluginlib</depend>
   <depend>roscpp</depend>

combined_robot_hw_tests/CMakeLists.txt

@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(combined_robot_hw_tests)
 
+# Load catkin and all dependencies required for this package
 find_package(catkin REQUIRED COMPONENTS
   combined_robot_hw
   controller_manager
@@ -9,29 +10,47 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
 )
 
-include_directories(include ${catkin_INCLUDE_DIRS})
-
+# Declare a catkin package
 catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
-  CATKIN_DEPENDS combined_robot_hw hardware_interface roscpp
+  INCLUDE_DIRS
+    include
+  LIBRARIES
+    ${PROJECT_NAME}
+  CATKIN_DEPENDS
+    combined_robot_hw
+    hardware_interface
+    roscpp
+    # Note: controller_manager and controller_manager_tests are only used in tests
 )
 
+
+###########
+## Build ##
+###########
+
+# Specify header include paths
+include_directories(include ${catkin_INCLUDE_DIRS})
+
 add_library(${PROJECT_NAME}
   src/my_robot_hw_1.cpp
   src/my_robot_hw_2.cpp
   src/my_robot_hw_3.cpp
   src/my_robot_hw_4.cpp
 )
 add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
 
 add_executable(combined_robot_hw_dummy_app src/dummy_app.cpp)
 target_link_libraries(combined_robot_hw_dummy_app ${PROJECT_NAME} ${catkin_LIBRARIES})
 
-if(CATKIN_ENABLE_TESTING)
 
+#############
+## Testing ##
+#############
+
+if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
+
   add_rostest_gtest(combined_robot_hw_test
     test/combined_robot_hw_test.test
     test/combined_robot_hw_test.cpp
@@ -43,18 +62,26 @@ if(CATKIN_ENABLE_TESTING)
     test/cm_test.cpp
   )
   target_link_libraries(combined_robot_hw_cm_test ${PROJECT_NAME} ${catkin_LIBRARIES})
-
 endif()
 
-# Install
+
+#############
+## Install ##
+#############
+
+# Install headers
 install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
 
-# Install library
-install(TARGETS ${PROJECT_NAME}
+# Install targets
+install(TARGETS ${PROJECT_NAME} combined_robot_hw_dummy_app
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)
 
+# Install plugins
 install(FILES test_robot_hw_plugin.xml
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)

combined_robot_hw_tests/package.xml

@@ -1,8 +1,8 @@
-<?xml version="1.0"?>
 <package format="2">
   <name>combined_robot_hw_tests</name>
   <version>0.15.1</version>
-  <description>The combined_robot_hw_tests package</description>
+  <description>Tests for the combined Robot HW class.</description>
+
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="toni@shadowrobot.com">Toni Oliver</maintainer>
   <maintainer email="enrique.fernandez.perdomo@gmail.com">Enrique Fernandez</maintainer>
@@ -17,6 +17,7 @@
   <author email="toni@shadowrobot.com">Toni Oliver</author>
 
   <buildtool_depend>catkin</buildtool_depend>
+
   <depend>combined_robot_hw</depend>
   <depend>controller_manager</depend>
   <depend>controller_manager_tests</depend>

controller_interface/CMakeLists.txt

@@ -2,32 +2,46 @@ cmake_minimum_required(VERSION 2.8.3)
 project(controller_interface)
 
 # Load catkin and all dependencies required for this package
-find_package(catkin REQUIRED COMPONENTS roscpp hardware_interface pluginlib)
+find_package(catkin REQUIRED COMPONENTS
+  hardware_interface
+  pluginlib
+  roscpp
+)
 
-# Declare catkin package
+# Declare a catkin package
 catkin_package(
-  CATKIN_DEPENDS roscpp hardware_interface pluginlib
-  INCLUDE_DIRS include
-  )
+  INCLUDE_DIRS
+    include
+  CATKIN_DEPENDS
+    hardware_interface
+    pluginlib
+    roscpp
+)
 
-if(CATKIN_ENABLE_TESTING)
 
-  find_package(rosunit REQUIRED)
+###########
+## Build ##
+###########
 
-  catkin_add_gmock(controller_base_test
-    test/controller_base_test.cpp
-  )
+# Specify header include paths
+include_directories(include ${catkin_INCLUDE_DIRS})
 
-  target_include_directories(controller_base_test PRIVATE include)
-  target_include_directories(controller_base_test SYSTEM PRIVATE ${catkin_INCLUDE_DIRS})
 
-  target_link_libraries(controller_base_test
-    ${catkin_LIBRARIES}
-  )
+#############
+## Testing ##
+#############
 
+if(CATKIN_ENABLE_TESTING)
+  catkin_add_gmock(controller_base_test test/controller_base_test.cpp)
+  target_link_libraries(controller_base_test ${catkin_LIBRARIES})
 endif()
 
-# Install
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 
+#############
+## Install ##
+#############
+
+# Install headers
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)

controller_interface/package.xml

@@ -1,7 +1,8 @@
 <package format="2">
   <name>controller_interface</name>
   <version>0.15.1</version>
-  <description>Interface base class for controllers</description>
+  <description>Interface base class for controllers.</description>
+
   <maintainer email="bence.magyar.robotics@gmail.com">Bence Magyar</maintainer>
   <maintainer email="enrique.fernandez.perdomo@gmail.com">Enrique Fernandez</maintainer>
   <maintainer email="mathias.luedtke@ipa.fraunhofer.de">Mathias Lüdtke</maintainer>

controller_manager/CMakeLists.txt

@@ -2,65 +2,92 @@ cmake_minimum_required(VERSION 2.8.3)
 project(controller_manager)
 
 # Load catkin and all dependencies required for this package
-find_package(catkin REQUIRED COMPONENTS controller_interface controller_manager_msgs hardware_interface pluginlib)
+find_package(catkin REQUIRED COMPONENTS
+  controller_interface
+  controller_manager_msgs
+  hardware_interface
+  pluginlib
+)
 
+# Include Boost.Thread
 find_package(Boost REQUIRED COMPONENTS thread)
 
-include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
+catkin_python_setup()
 
-# Declare catkin package
+# Declare a catkin package
 catkin_package(
-  DEPENDS Boost
-  CATKIN_DEPENDS controller_interface controller_manager_msgs hardware_interface pluginlib
-  INCLUDE_DIRS include
-  LIBRARIES ${PROJECT_NAME}
+  INCLUDE_DIRS
+    include
+  LIBRARIES
+    ${PROJECT_NAME}
+  CATKIN_DEPENDS
+    controller_interface
+    controller_manager_msgs
+    hardware_interface
+    pluginlib
+  DEPENDS
+    Boost
 )
 
+
+###########
+## Build ##
+###########
+
+# Specify header include paths
+include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIR})
+
 add_library(${PROJECT_NAME}
-  src/controller_manager.cpp
-  include/controller_manager/controller_manager.h
-  include/controller_manager/controller_loader_interface.h
   include/controller_manager/controller_loader.h
+  include/controller_manager/controller_loader_interface.h
+  include/controller_manager/controller_manager.h
+  src/controller_manager.cpp
 )
+add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-if(catkin_EXPORTED_TARGETS)
-  add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
-endif()
 
-if(CATKIN_ENABLE_TESTING)
+#############
+## Testing ##
+#############
 
+if(CATKIN_ENABLE_TESTING)
   find_package(rostest REQUIRED)
 
-  add_rostest_gtest(controller_manager_hwi_switch_test
+  add_rostest_gtest(${PROJECT_NAME}_hwi_switch_test
     test/hwi_switch_test.test
     test/hwi_switch_test.cpp
   )
-  target_link_libraries(controller_manager_hwi_switch_test ${PROJECT_NAME} ${catkin_LIBRARIES})
+  target_link_libraries(${PROJECT_NAME}_hwi_switch_test ${PROJECT_NAME} ${catkin_LIBRARIES})
 
-  add_rostest_gmock(controller_manager_hwi_update_test
+  add_rostest_gmock(${PROJECT_NAME}_hwi_update_test
     test/hwi_update_test.test
     test/hwi_update_test.cpp
   )
-  target_link_libraries(controller_manager_hwi_update_test ${PROJECT_NAME} ${catkin_LIBRARIES})
-
+  target_link_libraries(${PROJECT_NAME}_hwi_update_test ${PROJECT_NAME} ${catkin_LIBRARIES})
 endif()
 
-# Install
+
+#############
+## Install ##
+#############
+
+# Install python scripts
+catkin_install_python(PROGRAMS scripts/controller_group
+                               scripts/controller_manager
+                               scripts/spawner
+                               scripts/unspawner
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+# Install headers
 install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
 
-# Install library
+# Install targets
 install(TARGETS ${PROJECT_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
-
-catkin_install_python(PROGRAMS
-  scripts/controller_group
-  scripts/controller_manager
-  scripts/spawner
-  scripts/unspawner
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-
-catkin_python_setup()
+  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+)