added cmake function for installing mujoco assets

CMakeLists.txt

@@ -2,6 +2,11 @@ cmake_minimum_required(VERSION 3.22)
 project(picknik_accessories)
 
 find_package(ament_cmake REQUIRED)
+find_package(ament_index_cpp REQUIRED)
+
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules")
+
+include(InstallPicknikAccessories)
 
 install(
   DIRECTORY
@@ -11,6 +16,15 @@ install(
   DESTINATION
     share/${PROJECT_NAME}
 )
+
+install(FILES "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules/InstallPicknikAccessories.cmake"
+        DESTINATION lib/cmake/picknik_accessories/Modules)
+
+install(FILES "${CMAKE_CURRENT_SOURCE_DIR}/cmake/picknik_accessoriesConfig.cmake"
+        DESTINATION lib/cmake/picknik_accessories)
+
+ament_export_dependencies(ament_cmake ament_index_cpp)
+
 # TODO: is this lint process hanging somehow?
 # if(BUILD_TESTING)
 # find_package(ament_lint_auto REQUIRED)

cmake/Modules/InstallPicknikAccessories.cmake

@@ -0,0 +1,24 @@
+function(install_picknik_accessories)
+    set(options)
+    set(oneValueArgs DESTINATION)
+    cmake_parse_arguments(INSTALL_PICKNIK "" "${oneValueArgs}" "" ${ARGN})
+
+    if(NOT INSTALL_PICKNIK_DESTINATION)
+        message(FATAL_ERROR "DESTINATION argument is required for install_picknik_accessories()")
+    endif()
+
+    # Check if PICKNIK_ACCESSORIES_SHARE_DIR is defined
+    if(NOT DEFINED PICKNIK_ACCESSORIES_SHARE_DIR)
+        message(FATAL_ERROR "PICKNIK_ACCESSORIES_SHARE_DIR is not defined.")
+    endif()
+
+    # Verify that the assets directory exists
+    if(NOT EXISTS "${PICKNIK_ACCESSORIES_SHARE_DIR}")
+        message(FATAL_ERROR "Source directory '${PICKNIK_ACCESSORIES_SHARE_DIR}' does not exist.")
+    endif()
+
+    # Install the XML files from the assets directory to the specified destination
+    install(DIRECTORY "${PICKNIK_ACCESSORIES_SHARE_DIR}/"
+            DESTINATION "${INSTALL_PICKNIK_DESTINATION}"
+            FILES_MATCHING PATTERN "*.xml")
+endfunction()

cmake/picknik_accessoriesConfig.cmake

@@ -0,0 +1,8 @@
+# Get the absolute path to the package prefix
+get_filename_component(PICKNIK_ACCESSORIES_PREFIX "${CMAKE_CURRENT_LIST_DIR}/../../../" ABSOLUTE)
+
+# Define the share directory where assets are installed
+set(PICKNIK_ACCESSORIES_SHARE_DIR "${PICKNIK_ACCESSORIES_PREFIX}/share/picknik_accessories/mujoco_assets")
+
+# Include the InstallPicknikAccessories module
+include("${CMAKE_CURRENT_LIST_DIR}/Modules/InstallPicknikAccessories.cmake")