How to Find the Name of an ArmarX Package

Table of Contents

• Open Package in QtCreator
• Run CMake in Package
• Read the <tt>CMakeLists.txt</tt> of the Package

The name of an ArmarX package is the name of the project in CMake (all ArmarX packages are CMake projects). This might be different from the directory name. For example, Axii clones the ArmarX package (or CMake project) armar6_skills into the directory armarx_integration/robots/armar6/skills inside your workspace, while the package ArmarXSimulation is currently located in the directory armarx/ArmarXSimulation.

There are different ways to find out the name of an ArmarX package.

Open Package in QtCreator

QtCreator shows the name of an open CMake project in the Projects view (usually to the left of the editor):

Run CMake in Package

Run cmake .. in the build directory of the project. You should see something like this:

== Setting up ArmarX project ...
-- ArmarX legacy package.
-- Configuring ArmarX project `ArmarXSimulation`.

for the package ArmarXSimulation or

== Setting up ArmarX project ...
-- ArmarX next generation package.
-- Configuring ArmarX project `armar6_skills`.

for armar6_skills at the upper area of the output (you may need to scroll up to see it).

Read the <tt>CMakeLists.txt</tt> of the Package

Look at the top-level CMakeLists.txt of a package. For example, ArmarXSimulation looks like this:

cmake_minimum_required(VERSION 3.10.2)
 
find_package("ArmarXCore" REQUIRED)
include(${ArmarXCore_USE_FILE})
 
[...]
 
# Name for the project
armarx_project("ArmarXSimulation")
[...]

The CMake project / ArmarX package name is set with the armarx_project() macro. This looks simple enough (note that the quotes "" are optional):

armarx_project(ArmarXCore)          =>  name = ArmarXCore
armarx_project("ArmarXSimulation")  =>  name = "ArmarXSimulation"

Modern ArmarX packages can have a namespace. For instance, armar6_skills starts like this:

cmake_minimum_required(VERSION 3.18)
 
find_package(ArmarXCore REQUIRED)
include(${ArmarXCore_USE_FILE})
 
[...]
 
# Name for the project.
armarx_enable_modern_cmake_project()
armarx_project(skills NAMESPACE armar6)
[...]

In that case, the ArmarX package / CMake project name is namespace_project, i.e. the namespace is added in front of the project name with a _. For example:

armarx_project(control NAMESPACE armarx)        =>  name = "armarx_control"
armarx_project(navigation NAMESPACE armarx)     =>  name = "armarx_navigation"
armarx_project(skills NAMESPACE armar6)         =>  name = "armar6_skills"