From f74a487f951341415541a612dce5a3d1dcbb6f26 Mon Sep 17 00:00:00 2001
From: Ruben Smits <ruben.smits@intermodalics.eu>
Date: Tue, 25 Feb 2014 15:16:48 +0100
Subject: [PATCH] make beckhoff_drivers and master compatible with catkin

Signed-off-by: Ruben Smits <ruben.smits@intermodalics.eu>
---
 soem_beckhoff_drivers/CMakeLists.txt | 47 +++++++++++++++++++---------
 soem_beckhoff_drivers/Makefile       |  1 +
 soem_beckhoff_drivers/package.xml    | 32 +++++++++++++++++++
 soem_master/CMakeLists.txt           |  2 +-
 4 files changed, 67 insertions(+), 15 deletions(-)
 create mode 100644 soem_beckhoff_drivers/package.xml

diff --git a/soem_beckhoff_drivers/CMakeLists.txt b/soem_beckhoff_drivers/CMakeLists.txt
index 98ff384..3c3fafc 100644
--- a/soem_beckhoff_drivers/CMakeLists.txt
+++ b/soem_beckhoff_drivers/CMakeLists.txt
@@ -11,28 +11,38 @@ project(soem_beckhoff_drivers)
 
  
 # Do setup in case of ros package, If ROS_ROOT is set, it is                                                                                                 # recommended to use RTT/OCL through the ros packages.                                                                                                       
-set (ROS_ROOT $ENV{ROS_ROOT} )
-if (ROS_ROOT)
-  include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-  rosbuild_init()
-  rosbuild_find_ros_package( rtt )
-  set( RTT_HINTS HINTS ${rtt_PACKAGE_PATH}/../install )
-endif()
-
 #uncomment if you have defined messages
-rosbuild_genmsg()
-
+if(NOT ORO_USE_ROSBUILD)
+  find_package(catkin REQUIRED message_generation rtt_roscomm)
+  add_message_files( FILES
+    AnalogMsg.msg
+    CommMsgBig.msg
+    CommMsg.msg
+    DigitalMsg.msg
+    EncoderMsg.msg
+    EncoderInMsg.msg
+    EncoderOutMsg.msg
+    PSUMsg.msg
+    )
+  
+  generate_messages()
+endif()
 # Set the CMAKE_PREFIX_PATH in case you're not using Orocos through
 # ROS for helping these find commands find RTT.
 find_package(OROCOS-RTT REQUIRED ${RTT_HINTS} )
-
 # Defines the orocos_* cmake macros. See that file for additional
 # documentation.
 include(${OROCOS-RTT_USE_FILE_PATH}/UseOROCOS-RTT.cmake)
 
-rosbuild_include(rtt_rosnode GenerateRTTtypekit)
+if(ORO_USE_ROSBUILD)
+  rosbuild_genmsg()
+  rosbuild_include(rtt_rosnode GenerateRTTtypekit)
+endif()
 
 ros_generate_rtt_typekit(soem_beckhoff_drivers)
+  
+orocos_use_package(soem_master)
+orocos_use_package(soem)
 
 orocos_plugin(soem_el1xxx src/soem_beckhoff_drivers.cpp src/soem_el1xxx.cpp)
 orocos_plugin(soem_el2xxx src/soem_beckhoff_drivers.cpp src/soem_el2xxx.cpp)
@@ -43,5 +53,14 @@ orocos_plugin(soem_el6022 src/soem_beckhoff_drivers.cpp src/soem_el6022.cpp)
 orocos_plugin(soem_el30xx src/soem_beckhoff_drivers.cpp src/soem_el30xx.cpp)
 orocos_plugin(soem_el3104 src/soem_beckhoff_drivers.cpp src/soem_el3104.cpp)
 
-
-
+if(NOT ORO_USE_ROSBUILD)
+  add_dependencies(soem_el1xxx ${PROJECT_NAME}_generate_messages_cpp)
+  add_dependencies(soem_el2xxx ${PROJECT_NAME}_generate_messages_cpp)
+  add_dependencies(soem_el4xxx ${PROJECT_NAME}_generate_messages_cpp)
+  add_dependencies(soem_el3102 ${PROJECT_NAME}_generate_messages_cpp)
+  add_dependencies(soem_el5101 ${PROJECT_NAME}_generate_messages_cpp)
+  add_dependencies(soem_el6022 ${PROJECT_NAME}_generate_messages_cpp)
+  add_dependencies(soem_el30xx ${PROJECT_NAME}_generate_messages_cpp)
+  add_dependencies(soem_el3104 ${PROJECT_NAME}_generate_messages_cpp)
+endif()
+orocos_generate_package()
\ No newline at end of file
diff --git a/soem_beckhoff_drivers/Makefile b/soem_beckhoff_drivers/Makefile
index b75b928..99a8e3a 100644
--- a/soem_beckhoff_drivers/Makefile
+++ b/soem_beckhoff_drivers/Makefile
@@ -1 +1,2 @@
+EXTRA_CMAKE_FLAGS += -DORO_USE_ROSBUILD=True
 include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/soem_beckhoff_drivers/package.xml b/soem_beckhoff_drivers/package.xml
new file mode 100644
index 0000000..039c9bd
--- /dev/null
+++ b/soem_beckhoff_drivers/package.xml
@@ -0,0 +1,32 @@
+<package>
+  <name>soem_beckhoff_drivers</name>
+  <version>0.1.0</version>
+  <description>
+     soem_beckhoff_drivers contains drivers for the ethercat beckhoff modules to work together with the soem_master package, every module creates the necessary services, dataports and properties for its own functionality.
+  </description>
+
+  <maintainer email="ruben@intermodalics.eu"> Ruben Smits</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/soem_master</url>
+  <!-- <url type="bugtracker"></url> -->
+
+  <author>Ruben Smits</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>rtt</build_depend>
+  <build_depend>soem</build_depend>
+  <build_depend>soem_master</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>rtt_roscomm</build_depend>
+
+  <run_depend>rtt</run_depend>
+  <run_depend>soem</run_depend>
+  <run_depend>soem_master</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>rtt_roscomm</run_depend>
+  
+
+</package>
diff --git a/soem_master/CMakeLists.txt b/soem_master/CMakeLists.txt
index a922d90..202d3c1 100644
--- a/soem_master/CMakeLists.txt
+++ b/soem_master/CMakeLists.txt
@@ -19,4 +19,4 @@ target_link_libraries(soem_master soem_driver_factory)
 orocos_plugin(soem_plugin soem_plugin.cpp)
 
 orocos_install_headers( soem_driver.h soem_driver_factory.h)
-orocos_generate_package()
+orocos_generate_package( INCLUDE_DIRS ..)