From 1034e660d84297a751a7d6574f42d0e4ecf4c857 Mon Sep 17 00:00:00 2001
From: Jose Luis Blanco-Claraco <joseluisblancoc@gmail.com>
Date: Sat, 27 Jul 2024 16:46:46 +0200
Subject: [PATCH] Fix cmake for all build cases

---
 3rdparty/CMakeLists.txt                   | 2 +-
 CMakeLists.txt                            | 5 +++++
 cmakemodules/script_python_bindings.cmake | 1 -
 doc/source/doxygen-docs/changelog.md      | 4 +++-
 python/CMakeLists.txt                     | 8 ++++----
 5 files changed, 13 insertions(+), 7 deletions(-)

diff --git a/3rdparty/CMakeLists.txt b/3rdparty/CMakeLists.txt
index 7c4e625250..7df4407a51 100644
--- a/3rdparty/CMakeLists.txt
+++ b/3rdparty/CMakeLists.txt
@@ -134,7 +134,7 @@ if(CMAKE_MRPT_HAS_ROBOPEAK_LIDAR AND MRPT_BUILD_rplidar_sdk)
 	)
 	set_target_properties(mrpt_rplidar PROPERTIES FOLDER "3rd party")
 
-	if(NOT TARGET mrpt::core)
+	if((DEFINED BUILD_mrpt-core) AND (NOT BUILD_mrpt-core))
 		find_package(mrpt-core REQUIRED)
 	endif()
 	target_link_libraries(mrpt_rplidar PRIVATE mrpt::core) # To enforce c++17
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 397808a792..e89d0b0141 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -635,6 +635,11 @@ add_custom_target(all_mrpt_libs ALL) # all_mrpt_libs: target to build all mrpt-*
 add_subdirectory(3rdparty)   # The third-party libraries
 add_subdirectory(libs)        # The MRPT C++ libraries
 
+# Build pymrpt after defining the libs above
+if(CMAKE_MRPT_HAS_PYTHON_BINDINGS)
+add_subdirectory(python)
+endif()
+
 set(MRPT_BUILD_APPLICATIONS ON CACHE BOOL "If you only want the MRPT libraries, disable this.")
 if(MRPT_BUILD_APPLICATIONS)
 	add_subdirectory(apps)    # The applications:
diff --git a/cmakemodules/script_python_bindings.cmake b/cmakemodules/script_python_bindings.cmake
index 103355e490..7a775d53a9 100644
--- a/cmakemodules/script_python_bindings.cmake
+++ b/cmakemodules/script_python_bindings.cmake
@@ -50,7 +50,6 @@ if(UNIX AND NOT MRPT_DISABLE_PYTHON_BINDINGS)
         if (pybind11_FOUND)
             # build python bindings if we have all requirements
             set(CMAKE_MRPT_HAS_PYTHON_BINDINGS 1)
-            add_subdirectory(python)
         endif()
     endif()
 endif()
diff --git a/doc/source/doxygen-docs/changelog.md b/doc/source/doxygen-docs/changelog.md
index b9efa3e591..6d6c709547 100644
--- a/doc/source/doxygen-docs/changelog.md
+++ b/doc/source/doxygen-docs/changelog.md
@@ -2,7 +2,9 @@
 
 # Version 2.13.5: UNRELEASED
 - Build system:
-  - ROS package.xml: Remove libfyaml-dev as required build dependency (will use embedded copy). This enables correct builds on non-Debian distributions.
+  - This main MRPT repository is no longer directly built as a ROS package. Please, use the wrappers for better modularity:
+    - https://github.com/MRPT/mrpt_ros
+    - https://github.com/MRPT/python_mrpt_ros
 
 # Version 2.13.4: Released July 24th, 2024
 - Fix docs typos.
diff --git a/python/CMakeLists.txt b/python/CMakeLists.txt
index ab15112720..39b0daba46 100644
--- a/python/CMakeLists.txt
+++ b/python/CMakeLists.txt
@@ -46,16 +46,16 @@ else()
 endif()
 
 # enable separate build of pymrpt for ros packages:
-if(NOT TARGET mrpt::apps)
+if(NOT TARGET mrpt::apps AND NOT TARGET mrpt-apps)
   find_package(mrpt-apps REQUIRED)
 endif()
-if(NOT TARGET mrpt::nav)
+if(NOT TARGET mrpt::nav AND NOT TARGET mrpt-nav)
   find_package(mrpt-nav REQUIRED)
 endif()
-if(NOT TARGET mrpt::slam)
+if(NOT TARGET mrpt::slam AND NOT TARGET mrpt-slam)
   find_package(mrpt-slam REQUIRED)
 endif()
-if(NOT TARGET mrpt::gui)
+if(NOT TARGET mrpt::gui AND NOT TARGET mrpt-gui)
   find_package(mrpt-gui REQUIRED)
 endif()