From cae780f1223aaffb41e7755afebc9158d7e840cf Mon Sep 17 00:00:00 2001
From: Peter Soetens <peter@thesourceworks.com>
Date: Fri, 26 Nov 2010 12:08:38 +0100
Subject: [PATCH 1/3] typelib: support typelibs built in ros package trees.

The patch is minimally intrusive for letting both typelib and the cmake system
know that we're building in a ros package tree. This means that it should
also work without installing the package.

Signed-off-by: Peter Soetens <peter@thesourceworks.com>
---
 lib/orogen/templates/typekit/CMakeLists.txt        |    9 +++++++++
 lib/orogen/templates/typekit/manifest.xml          |    3 +--
 .../templates/typekit/typelib/CMakeLists.txt       |    9 +++++++++
 .../templates/typekit/typelib/TransportPlugin.cpp  |   18 ++++++++++++++++++
 4 files changed, 37 insertions(+), 2 deletions(-)

diff --git a/lib/orogen/templates/typekit/CMakeLists.txt b/lib/orogen/templates/typekit/CMakeLists.txt
index deea6cf..9f17b33 100644
--- a/lib/orogen/templates/typekit/CMakeLists.txt
+++ b/lib/orogen/templates/typekit/CMakeLists.txt
@@ -45,6 +45,15 @@ ADD_CUSTOM_TARGET(regen
 # END if typekit.standalone?
 ##
 
+set(ROS_ROOT $ENV{ROS_ROOT})
+if ( ROS_ROOT )
+    if ( NOT ROSPACK_EXE )
+        include(${ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+        rosbuild_init()
+    endif( NOT ROSPACK_EXE )
+    set (CMAKE_LIBRARY_OUTPUT_DIRECTORY ${${CMAKE_PROJECT_NAME}_SOURCE_DIR}/lib/orocos/types)
+endif( ROS_ROOT ) 
+
 execute_process(COMMAND cmake -E create_symlink
     ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_BINARY_DIR}/<%= typekit.name %>)
 
diff --git a/lib/orogen/templates/typekit/manifest.xml b/lib/orogen/templates/typekit/manifest.xml
index 2c3395d..e7dbe26 100644
--- a/lib/orogen/templates/typekit/manifest.xml
+++ b/lib/orogen/templates/typekit/manifest.xml
@@ -8,7 +8,6 @@
   <license></license>
   <review status="unreviewed" notes=""/>
   <url>http://ros.org/wiki/<%=typekit.name %>-typekit</url>
-  <depend package="typelib"/>
-  <depend package="rtt_2.0"/>
+  <depend package="rtt"/>
 
 </package>
diff --git a/lib/orogen/templates/typekit/typelib/CMakeLists.txt b/lib/orogen/templates/typekit/typelib/CMakeLists.txt
index 35166b6..fb589e6 100644
--- a/lib/orogen/templates/typekit/typelib/CMakeLists.txt
+++ b/lib/orogen/templates/typekit/typelib/CMakeLists.txt
@@ -21,6 +21,15 @@ target_link_libraries(${libname_typelib}
 target_link_libraries(${libname_typelib}
     LINK_INTERFACE_LIBRARIES)
 
+# rospack support
+if ( ROS_ROOT )
+        rosbuild_find_ros_package( roslib )
+        include_directories( ${roslib_PACKAGE_PATH}/include )
+        find_library(ROS_LIB roslib ${roslib_PACKAGE_PATH}/lib )
+        TARGET_LINK_LIBRARIES( ${libname} ${ROS_LIB} )
+        ADD_DEFINITIONS( -DHAS_ROSLIB )
+endif( ROS_ROOT )
+
 SET(PKG_CONFIG_FILE_TYPELIB ${CMAKE_CURRENT_BINARY_DIR}/<%= typekit.name %>-transport-typelib-${OROCOS_TARGET}.pc)
 CONFIGURE_FILE(<%= typekit.name %>-transport-typelib.pc.in ${PKG_CONFIG_FILE_TYPELIB} @ONLY)
 
diff --git a/lib/orogen/templates/typekit/typelib/TransportPlugin.cpp b/lib/orogen/templates/typekit/typelib/TransportPlugin.cpp
index e828bda..703d27f 100644
--- a/lib/orogen/templates/typekit/typelib/TransportPlugin.cpp
+++ b/lib/orogen/templates/typekit/typelib/TransportPlugin.cpp
@@ -9,6 +9,9 @@
 #include <utilmm/configfile/pkgconfig.hh>
 #include <rtt/Logger.hpp>
 using namespace RTT;
+#ifdef HAS_ROSLIB
+#include <ros/package.h>
+#endif
 
 #define TYPEKIT_PACKAGE_NAME_aux0(target) #target
 #define TYPEKIT_PACKAGE_NAME_aux(target) "<%= typekit.name %>-typekit-" TYPEKIT_PACKAGE_NAME_aux0(target)
@@ -17,6 +20,21 @@ using namespace RTT;
 orogen_typekits::<%= typekit.name %>TypelibTransportPlugin::<%= typekit.name %>TypelibTransportPlugin()
     : m_registry(0)
 {
+#ifdef HAS_ROSLIB
+    using namespace ros::package;
+    try {
+        bool all_good = true, found = false;
+        std::string ppath = getPath( "<%= typekit.name %>" );
+        if ( !ppath.empty() ) {
+            std::string tkpath = ppath + "/typekit" + "/<%= typekit.name %>.tlb";
+            m_registry = Typelib::PluginManager::load("tlb", tkpath);
+            return;
+        } else
+            log(Error) << "Not a ros package: " << "<%= typekit.name %>" << endlog();
+    } catch(...) {
+        log(Error) << "Not a ros package: " << "<%= typekit.name %>" << endlog();
+    }
+#endif
     try {
         m_registry = Typelib::PluginManager::load("tlb", TYPEKIT_REGISTRY);
     }
-- 
1.7.0.4