From c247c75d1779349de5aa86a7af11a27054c55928 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Wed, 9 Jun 2021 15:40:09 +0300
Subject: [PATCH] aruco_pose, clover, clover_blocks: fix install sections

---
 aruco_pose/CMakeLists.txt       | 14 +++++++++-----
 clover/CMakeLists.txt           | 18 ++++++++++++------
 clover_blocks/CMakeLists.txt    |  5 +++++
 clover_blocks/src/clover_blocks |  1 +
 4 files changed, 27 insertions(+), 11 deletions(-)

diff --git a/aruco_pose/CMakeLists.txt b/aruco_pose/CMakeLists.txt
index e3ab2a93..93b19e76 100644
--- a/aruco_pose/CMakeLists.txt
+++ b/aruco_pose/CMakeLists.txt
@@ -202,11 +202,11 @@ set_property(TARGET aruco_pose
 # )
 
 ## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+install(TARGETS ${PROJECT_NAME}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
@@ -226,6 +226,10 @@ catkin_install_python(PROGRAMS src/genmap.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(DIRECTORY map DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
 #############
 ## Testing ##
 #############
diff --git a/clover/CMakeLists.txt b/clover/CMakeLists.txt
index 2e96289e..282c19f9 100644
--- a/clover/CMakeLists.txt
+++ b/clover/CMakeLists.txt
@@ -241,12 +241,12 @@ target_link_libraries(${PROJECT_NAME}
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+# Mark executables and/or libraries for installation
+install(TARGETS simple_offboard clover_rc camera_markers vpe_publisher clover_led shell clover
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
@@ -266,6 +266,12 @@ catkin_install_python(PROGRAMS src/selfcheck.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(DIRECTORY examples DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+# TODO: install www
+
 # Only install udev rules when building a Debian package
 # FIXME: Other operating systems may have other prefixes
 string(FIND ${CMAKE_INSTALL_PREFIX} "/opt/ros" _PREFIX_INDEX)
diff --git a/clover_blocks/CMakeLists.txt b/clover_blocks/CMakeLists.txt
index 437e4cf4..33636cbc 100644
--- a/clover_blocks/CMakeLists.txt
+++ b/clover_blocks/CMakeLists.txt
@@ -73,6 +73,11 @@ catkin_install_python(PROGRAMS src/clover_blocks
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+# TODO: store programs in home directory?
+install(DIRECTORY programs
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+
 #############
 ## Testing ##
 #############
diff --git a/clover_blocks/src/clover_blocks b/clover_blocks/src/clover_blocks
index 4000df8e..792b4817 100755
--- a/clover_blocks/src/clover_blocks
+++ b/clover_blocks/src/clover_blocks
@@ -146,6 +146,7 @@ def stop(req):
     return {'success': True}
 
 
+# TODO: find dir in installed package
 programs_path = rospy.get_param('~programs_dir', os.path.dirname(os.path.abspath(__file__)) + '/../programs')