addressed Eigen3 dependency on constrained_ik package

constrained_ik/CMakeLists.txt

@@ -27,37 +27,33 @@ find_package(catkin REQUIRED COMPONENTS
 ## System dependencies are found with CMake's conventions
 find_package(orocos_kdl REQUIRED)
 find_package(Boost REQUIRED)
-find_package(Eigen REQUIRED)
+
+# We don't build anything here, but in order to export the right
+# build flags in catkin_package(), we still have to find Eigen3 here.  Note
+# that this is somewhat complicated because of our need to support Ubuntu
+# all the way back to saucy.  First we look for the Eigen3 cmake module
+# provided by the libeigen3-dev on newer Ubuntu.  If that fails, then we
+# fall-back to the version provided by cmake_modules, which is a stand-in.
+find_package(Eigen3 QUIET)
+if(NOT EIGEN3_FOUND)
+  # saucy does not have Eigen3, but have Eigen instead
+  find_package(cmake_modules REQUIRED)
+  find_package(Eigen REQUIRED)
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
+endif()
+
+# Note that eigen 3.2 (on Ubuntu Wily) only provides EIGEN3_INCLUDE_DIR,
+# not EIGEN3_INCLUDE_DIRS, so we have to set the latter from the former.
+if(NOT EIGEN3_INCLUDE_DIRS)
+  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
+endif()
 
 #add dynamic reconfigure api
 generate_dynamic_reconfigure_options(
   cfg/CLIKDynamic.cfg
   cfg/CLIKPlannerDynamic.cfg
 )
 
-#######################################
-## Declare ROS messages and services ##
-#######################################
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
 
 ###################################
 ## catkin specific configuration ##
@@ -68,7 +64,7 @@ generate_dynamic_reconfigure_options(
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
- INCLUDE_DIRS include ${catkin_INCLUDE_DIRS}
+ INCLUDE_DIRS include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS}
  LIBRARIES constrained_ik constrained_ik_constraints moveit_clik_planner_plugin constrained_ik_plugin
  CATKIN_DEPENDS roscpp urdf eigen_conversions tf_conversions urdf moveit_ros_planning moveit_core dynamic_reconfigure kdl_parser cmake_modules industrial_collision_detection
  DEPENDS boost eigen orocos_kdl
@@ -80,7 +76,7 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIRS})
+include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})
 
 ## Declare a cpp library
 add_library(constrained_ik

stomp_core/CMakeLists.txt

@@ -6,18 +6,7 @@ find_package(catkin REQUIRED COMPONENTS
   cmake_modules
 )
 
-
-find_package(Eigen3 QUIET)
-if(NOT EIGEN3_FOUND)
-  # saucy does not have Eigen3, but have Eigen instead
-  find_package(cmake_modules REQUIRED)
-  find_package(Eigen REQUIRED)
-  set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
-endif()
-
-if(NOT EIGEN3_INCLUDE_DIRS)
-  set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
-endif()
+find_package(Eigen REQUIRED)
 
 add_definitions("-std=c++11")
 
@@ -28,10 +17,10 @@ add_definitions("-std=c++11")
 ## catkin specific configuration ##
 ###################################
 catkin_package(
-  INCLUDE_DIRS include
+  INCLUDE_DIRS include ${EIGEN_INCLUDE_DIRS}
   LIBRARIES stomp_core
   CATKIN_DEPENDS roscpp cmake_modules
-  DEPENDS EIGEN3
+  DEPENDS eigen
 )
 
 ###########
@@ -41,7 +30,7 @@ include_directories(
   include
   examples
   ${catkin_INCLUDE_DIRS}
-  ${EIGEN3_INCLUDE_DIRS}
+  ${EIGEN_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library