From 18448c855a179be8ab5fda549dfba08de9462876 Mon Sep 17 00:00:00 2001
From: Konstantinos Vasios <konstantinos.vasios@gmail.com>
Date: Fri, 22 Nov 2024 18:01:04 +0200
Subject: [PATCH 1/4] setting target properties for cpack in order to maintain
 the rpath

---
 CMakeLists.txt | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 22985383..57015b0f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -163,6 +163,8 @@ install(TARGETS franka libfranka-common
   RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
   ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
 )
+set_target_properties(franka PROPERTIES INSTALL_RPATH "/opt/openrobotics/lib")
+  
 install(DIRECTORY include/ common/include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
   USE_SOURCE_PERMISSIONS
 )
@@ -284,4 +286,4 @@ if(CLANG_TIDY_PROG)
   )
 else(CLANG_TIDY_PROG)
   MESSAGE(WARNING "Could not find clang-tidy")
-endif()
+endif()
\ No newline at end of file

From d2bbe8caca2cc7c4b983fad50cc37c07f98c510a Mon Sep 17 00:00:00 2001
From: Konstantinos Vasios <konstantinos.vasios@gmail.com>
Date: Fri, 22 Nov 2024 18:46:16 +0200
Subject: [PATCH 2/4] rpath for pinocchio maintained during installation with
 cpack

---
 CMakeLists.txt | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 57015b0f..ef5750f8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -163,11 +163,14 @@ install(TARGETS franka libfranka-common
   RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
   ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
 )
-set_target_properties(franka PROPERTIES INSTALL_RPATH "/opt/openrobotics/lib")
-  
-install(DIRECTORY include/ common/include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
-  USE_SOURCE_PERMISSIONS
-)
+# Extract the directory containing the cmake folder
+get_filename_component(PINOCCHIO_CMAKE_PATH "${pinocchio_DIR}" DIRECTORY)
+
+# Extract the library path
+get_filename_component(PINOCCHIO_LIB_PATH "${PINOCCHIO_CMAKE_PATH}" DIRECTORY)
+
+# This section sets the RPATH for the franka target to the directory containing the pinocchio library
+set_target_properties(franka PROPERTIES INSTALL_RPATH "${PINOCCHIO_LIB_PATH}")
 
 export(EXPORT FrankaTargets
   NAMESPACE Franka::

From a30e8740099c429f5ed924d97e9fd9bffc9360e2 Mon Sep 17 00:00:00 2001
From: Konstantinos Vasios <konstantinos.vasios@gmail.com>
Date: Fri, 22 Nov 2024 18:49:22 +0200
Subject: [PATCH 3/4] fixing identation

---
 CMakeLists.txt | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index ef5750f8..72073b44 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -163,15 +163,16 @@ install(TARGETS franka libfranka-common
   RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
   ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
 )
+
 # Extract the directory containing the cmake folder
 get_filename_component(PINOCCHIO_CMAKE_PATH "${pinocchio_DIR}" DIRECTORY)
-
-# Extract the library path
 get_filename_component(PINOCCHIO_LIB_PATH "${PINOCCHIO_CMAKE_PATH}" DIRECTORY)
-
-# This section sets the RPATH for the franka target to the directory containing the pinocchio library
 set_target_properties(franka PROPERTIES INSTALL_RPATH "${PINOCCHIO_LIB_PATH}")
 
+install(DIRECTORY include/ common/include/ DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+  USE_SOURCE_PERMISSIONS
+)
+
 export(EXPORT FrankaTargets
   NAMESPACE Franka::
   FILE ${CMAKE_CURRENT_BINARY_DIR}/FrankaTargets.cmake

From 7f8c285f4b3fc2b70b06e2c147da6a8cffebffac Mon Sep 17 00:00:00 2001
From: Konstantinos Vasios <konstantinos.vasios@gmail.com>
Date: Fri, 22 Nov 2024 18:49:52 +0200
Subject: [PATCH 4/4] adding line at the nd

---
 CMakeLists.txt | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 72073b44..7abcf465 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -290,4 +290,4 @@ if(CLANG_TIDY_PROG)
   )
 else(CLANG_TIDY_PROG)
   MESSAGE(WARNING "Could not find clang-tidy")
-endif()
\ No newline at end of file
+endif()