fix directory structure for catkin/rostest

CMakeLists.txt

@@ -554,9 +554,35 @@ if(ENABLE_CPACK)
   endif(GENERATE_DEBIANPACKAGE)
 endif(ENABLE_CPACK)
 
-## rostest
-find_package(rostest)
-if(rostest_FOUND)
-  add_rostest(test/test_openhrp3.test)
-  add_rostest(test/test_modelloader.test)
+#if catkin environment
+if(CMAKE_PREFIX_PATH)
+  message("[openhrp3] compile under catkin environment")
+  ## rostest
+  find_package(rostest)
+  execute_process(COMMAND cmake -E make_directory share/OpenHRP-3.1 WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
+  execute_process(COMMAND cmake -E create_symlink ../../sample share/OpenHRP-3.1/sample WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
+  execute_process(COMMAND cmake -E copy_directory ${CMAKE_CURRENT_BINARY_DIR}/bin bin WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}) # rosrun could not find symlink?
+  if(rostest_FOUND)
+    add_rostest(test/test_openhrp3.test)
+    add_rostest(test/test_modelloader.test)
+  endif()
+
+  # install
+  install(CODE "execute_process(COMMAND cmake -E make_directory \$ENV{DISTDIR}/${CMAKE_INSTALL_PREFIX}/share/openhrp3/share)")
+  install(CODE "execute_process(COMMAND cmake -E make_directory \$ENV{DISTDIR}/${CMAKE_INSTALL_PREFIX}/share/openhrp3/bin)")
+  # copy package.xml
+  install(FILES package.xml DESTINATION $ENV{DISTDIR}/${CMAKE_INSTALL_PREFIX}/share/openhrp3/)
+  # copy share
+  install(CODE "execute_process(COMMAND cmake -E create_symlink ../../../share/OpenHRP-3.1 OpenHRP-3.1 WORKING_DIRECTORY \$ENV{DISTDIR}/${CMAKE_INSTALL_PREFIX}/share/openhrp3/share)")
+  # copy test
+  install(DIRECTORY test DESTINATION $ENV{DISTDIR}/${CMAKE_INSTALL_PREFIX}/share/openhrp3/ USE_SOURCE_PERMISSIONS)
+  # copy bin
+  foreach(file export-collada openhrp-aist-dynamics-simulator openhrp-controller-bridge openhrp-model-loader openhrp-shutdown-servers export-vrml openhrp-collision-detector openhrp-jython-prompt openhrp-path-planner openhrp-ut-dynamics-simulator)
+    install(CODE "execute_process(COMMAND cmake -E create_symlink ../../../bin/${file} ${file} WORKING_DIRECTORY \$ENV{DISTDIR}/${CMAKE_INSTALL_PREFIX}/share/openhrp3/bin)")
+  endforeach()
+  # create dae
+  install(CODE "execute_process(COMMAND ${CMAKE_CURRENT_BINARY_DIR}/bin/export-collada -i ${CMAKE_CURRENT_SOURCE_DIR}/sample/model/sample.wrl -o ${CMAKE_CURRENT_SOURCE_DIR}/sample/model/sample.dae  OUTPUT_VARIABLE out RESULT_VARIABLE err)
+                message(\"\${out}\${err}\")")
+  install(CODE "execute_process(COMMAND ${CMAKE_CURRENT_BINARY_DIR}/bin/export-collada -i ${CMAKE_CURRENT_SOURCE_DIR}/sample/model/PA10/pa10.main.wrl -o ${CMAKE_CURRENT_SOURCE_DIR}/sample/model/PA10/pa10.dae OUTPUT_VARIABLE out RESULT_VARIABLE err)
+                message(\"\${out}\${err}\")")
 endif()