use urdf->euslisp, stead of urdf->collada->euslisp, becuase of ros/co…

…llada_urdf#43
k-okada · Sep 4, 2022 · b7735c3 · b7735c3
1 parent 1fb0d24
commit b7735c3
Showing 1 changed file with 11 additions and 7 deletions.
diff --git a/jsk_spot_robot/spoteus/CMakeLists.txt b/jsk_spot_robot/spoteus/CMakeLists.txt
@@ -40,14 +40,18 @@ add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/spot.urdf
   DEPENDS ${_spot_urdf}/spot.urdf.xacro)
 
 if(NOT EXISTS ${PROJECT_SOURCE_DIR}/spot.l)
-  add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/spot.dae
-    COMMAND echo "${_urdf_to_collada} ${PROJECT_SOURCE_DIR}/spot.urdf spot.dae"
-    COMMAND ${_urdf_to_collada} ${PROJECT_SOURCE_DIR}/spot.urdf ${PROJECT_SOURCE_DIR}/spot.dae
-    DEPENDS ${PROJECT_SOURCE_DIR}/spot.urdf)
+  # add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/spot.dae
+  #   COMMAND echo "${_urdf_to_collada} ${PROJECT_SOURCE_DIR}/spot.urdf spot.dae"
+  #   COMMAND ${_urdf_to_collada} ${PROJECT_SOURCE_DIR}/spot.urdf ${PROJECT_SOURCE_DIR}/spot.dae
+  #   DEPENDS ${PROJECT_SOURCE_DIR}/spot.urdf)
+  # add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/spot.l
+  #   COMMAND echo "${_collada2eus} spot.dae spot.l"
+  #   COMMAND ${_collada2eus} ${PROJECT_SOURCE_DIR}/spot.dae ${PROJECT_SOURCE_DIR}/spot.yaml ${PROJECT_SOURCE_DIR}/spot.l
+  #   DEPENDS ${PROJECT_SOURCE_DIR}/spot.dae ${PROJECT_SOURCE_DIR}/spot.yaml ${_collada2eus})
   add_custom_command(OUTPUT ${PROJECT_SOURCE_DIR}/spot.l
-    COMMAND echo "${_collada2eus} spot.dae spot.l"
-    COMMAND ${_collada2eus} ${PROJECT_SOURCE_DIR}/spot.dae ${PROJECT_SOURCE_DIR}/spot.yaml ${PROJECT_SOURCE_DIR}/spot.l
-    DEPENDS ${PROJECT_SOURCE_DIR}/spot.dae ${PROJECT_SOURCE_DIR}/spot.yaml ${_collada2eus})
+    COMMAND echo "${_collada2eus} spot.urdf spot.l"
+    COMMAND ${_collada2eus} ${PROJECT_SOURCE_DIR}/spot.urdf ${PROJECT_SOURCE_DIR}/spot.yaml ${PROJECT_SOURCE_DIR}/spot.l
+    DEPENDS ${PROJECT_SOURCE_DIR}/spot.urdf ${PROJECT_SOURCE_DIR}/spot.yaml ${_collada2eus})
   add_custom_target(compile_spot ALL DEPENDS ${PROJECT_SOURCE_DIR}/spot.l)
 endif()