Fix ikfast cmake

* do not write plugins.xml in source space
* added install tags

cob_kinematics/ikfast/CMakeLists.txt

@@ -3,8 +3,9 @@ exec_program("rosversion -d; echo" OUTPUT_VARIABLE ROS_VERSION)
 add_custom_target(ikfast_libs DEPENDS urdf_openrave)
 include_directories(include)
 
+set(plugins_xml ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/plugins.xml)
 file(GLOB yamls "config/*.yaml")
-file(WRITE plugins.xml "<class_libraries>\n")
+file(WRITE ${plugins_xml} "<class_libraries>\n")
 
 set_directory_properties(PROPERTIES CLEAN_NO_CUSTOM true)
 foreach(fname ${yamls})
@@ -22,8 +23,12 @@ foreach(fname ${yamls})
     set_target_properties(${tname} PROPERTIES COMPILE_DEFINITIONS IKFAST_NAMESPACE=${bname} )
     target_link_libraries(${tname} lapack)
 
-    file(APPEND plugins.xml "<library path=\"ros/lib/lib${tname}\">\n")
-    file(APPEND plugins.xml "<class name=\"cob_kinematics/IKFast_${bname}\" type=\"${bname}::IKFastPlugin\" base_class_type=\"kinematics::KinematicsBase\"/>\n")
-    file(APPEND plugins.xml "</library>\n")
+    install(TARGETS ${tname} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+
+    file(APPEND ${plugins_xml} "<library path=\"ros/lib/lib${tname}\">\n")
+    file(APPEND ${plugins_xml} "<class name=\"cob_kinematics/IKFast_${bname}\" type=\"${bname}::IKFastPlugin\" base_class_type=\"kinematics::KinematicsBase\"/>\n")
+    file(APPEND ${plugins_xml} "</library>\n")
 endforeach()
-file(APPEND plugins.xml "</class_libraries>\n")
+file(APPEND ${plugins_xml} "</class_libraries>\n")
+
+install(FILES ${plugins_xml} DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})