Integration of urdf_parser in non-ROS software using CMake
I would like to extend my library RBDL (the Rigid Body Dynamics Library) to allow loading of models described by urdf. For this I would like to use the existing urdf_parser from ROS. As a build system I use CMake.
Normally I would create some FindXXX.cmake scripts and search for the include directories and libraries using CMake, however the dependencies for the urdf parser and model seem to be more involved than would be feasible for this approach.
What would be the best practice to find and link against the ROS urdf libraries?
Thank you in advance!
Hi Thomas! I'm fine, thanks ;D. The code to load urdf models would just be an optional addon to RBDL and therefore I do not see a problem making that addon dependent on ROS. I guess in that way it makes more sense to use the first approach. But, if there is interest I might add RBDL to ROS.