JdeRobot · fqez · May 4, 2017 · Apr 17, 2017 · Apr 17, 2017 · Apr 18, 2017
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -58,6 +58,7 @@ file(MAKE_DIRECTORY ${INTERFACES_PYTHON_DIR})
 file(MAKE_DIRECTORY ${INTERFACES_JAVA_DIR})
 file(MAKE_DIRECTORY ${INTERFACES_CPP_DIR})
 
+
 # MACRO to get the list of subdirectories
 macro(list_subdirectories retval curdir return_relative)
   file(GLOB sub-dir RELATIVE ${curdir} *)
@@ -137,89 +138,11 @@ add_subdirectory (${CMAKE_CURRENT_SOURCE_DIR}/src)
 #                 #
 ###################
 
-INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/src/interfaces/libJderobotInterfaces.so DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/jderobot COMPONENT core)
-
-# Install python files
-FILE(GLOB_RECURSE HEADERS_FILES ${CMAKE_CURRENT_BINARY_DIR}/src/interfaces/python/*py)
-FOREACH(header ${HEADERS_FILES})
-	INSTALL(FILES ${header} DESTINATION ${PYTHON_MODULE_PATH}/ COMPONENT core)
-ENDFOREACH(header)
-
-INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/src/interfaces/python/jderobot/__init__.py DESTINATION ${PYTHON_MODULE_PATH}/jderobot/ COMPONENT core)
-
-# install all libraries 
-FILE(GLOB LIB_FILES ${CMAKE_CURRENT_BINARY_DIR}/src/libs/*/*.so*)
-FOREACH (lib ${LIB_FILES})
-	INSTALL (FILES ${lib} DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/jderobot COMPONENT core)
-ENDFOREACH(lib)
-
-FILE(GLOB LIB_FILES ${CMAKE_CURRENT_BINARY_DIR}/src/libs/visionlib/*/*.so*)
-FOREACH (lib ${LIB_FILES})
-	INSTALL (FILES ${lib} DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/jderobot COMPONENT core)
-ENDFOREACH(lib)
-
-
-FILE(GLOB_RECURSE HEADERS_FILES ${CMAKE_CURRENT_SOURCE_DIR}/src/libs/*.h)
-FOREACH(currentSourceFile ${HEADERS_FILES})
-    string(REGEX REPLACE "(.*/).*.h" "\\1" new_source1 ${currentSourceFile})
-		string(REGEX REPLACE  "${CMAKE_CURRENT_SOURCE_DIR}/src/libs" "" new_source2 ${new_source1})
-    INSTALL (FILES ${currentSourceFile} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/jderobot/${new_source2} COMPONENT core)
-ENDFOREACH(currentSourceFile)
-
-# Install libraries headers
-FILE(GLOB_RECURSE HEADERS_FILES ${CMAKE_CURRENT_SOURCE_DIR}/src/libs/*.h)
-FOREACH(currentSourceFile ${HEADERS_FILES})
-	string(REGEX REPLACE ".*/(.*/).*.h" "\\1" new_source1 ${currentSourceFile})
-	INSTALL (FILES ${currentSourceFile} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/jderobot/${new_source1} COMPONENT core)
-ENDFOREACH(currentSourceFile)
 
 # Install Executables
 list_subdirectories2( LIST_DRIVERS ${CMAKE_CURRENT_SOURCE_DIR}/src/drivers/ 1)
 list_subdirectories2( LIST_TOOLS ${CMAKE_CURRENT_SOURCE_DIR}/src/tools/ 1)
 
-FOREACH (currentBin ${LIST_DRIVERS})
-    if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/src/drivers/${currentBin}/${currentBin})
-        INSTALL (PROGRAMS ${CMAKE_CURRENT_SOURCE_DIR}/src/drivers/${currentBin}/${currentBin} DESTINATION ${CMAKE_INSTALL_PREFIX}/bin OPTIONAL COMPONENT core)
-    else()
-        INSTALL (PROGRAMS ${CMAKE_CURRENT_BINARY_DIR}/src/drivers/${currentBin}/${currentBin} DESTINATION ${CMAKE_INSTALL_PREFIX}/bin OPTIONAL COMPONENT core)
-    endif()
-ENDFOREACH(currentBin)
-
-FOREACH (currentBin ${LIST_TOOLS})
-    if (EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/src/tools/${currentBin}/${currentBin})
-        INSTALL (PROGRAMS ${CMAKE_CURRENT_SOURCE_DIR}/src/tools/${currentBin}/${currentBin} DESTINATION ${CMAKE_INSTALL_PREFIX}/bin OPTIONAL COMPONENT core)
-    else()
-        INSTALL (PROGRAMS ${CMAKE_CURRENT_BINARY_DIR}/src/tools/${currentBin}/${currentBin} DESTINATION ${CMAKE_INSTALL_PREFIX}/bin OPTIONAL COMPONENT core)
-    endif()
-ENDFOREACH(currentBin)
-
-
-
-# Install interfaces headers
-INSTALL(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/src/interfaces/cpp/jderobot/
-    DESTINATION ${CMAKE_INSTALL_PREFIX}/include/jderobot
-	COMPONENT core
-    FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
-)
-
-# Install slice
-FILE(GLOB SLICE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/src/interfaces/slice/jderobot/*.ice)
-INSTALL (FILES ${SLICE_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/jderobot/slice COMPONENT core)
-
-# Install CONF
-FILE(GLOB_RECURSE CONF_DRIVER_FILES ${CMAKE_CURRENT_SOURCE_DIR}/src/drivers/*.cfg)
-FILE(GLOB_RECURSE CONF_TOOL_FILES ${CMAKE_CURRENT_SOURCE_DIR}/src/tools/*.cfg)
-
-SET(CONF_FILES ${CONF_COMPONENT_FILES} ${CONF_DRIVER_FILES} ${CONF_TOOL_FILES})
-INSTALL (FILES ${CONF_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf COMPONENT core)
-
-# Install Glade
-FILE(GLOB_RECURSE GLADE_DRIVER_FILES ${CMAKE_CURRENT_SOURCE_DIR}/src/drivers/*.glade)
-FILE(GLOB_RECURSE GLADE_TOOL_FILES ${CMAKE_CURRENT_SOURCE_DIR}/src/tools/*.glade)
-
-SET(GLADE_FILES ${GLADE_COMPONENT_FILES} ${GLADE_DRIVER_FILES} ${GLADE_TOOL_FILES})
-INSTALL (FILES ${GLADE_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/glade COMPONENT core)
-
 # Install Deps cmake's tree
 INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/Deps DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot)
 

diff --git a/src/drivers/ardrone_server/CMakeLists.txt b/src/drivers/ardrone_server/CMakeLists.txt
@@ -89,9 +89,17 @@ if(ARDRONE_ALL_DEPS)
     		${easyiceconfig_LIBRARIES})
 
 
+
+    install(TARGETS ardrone_server ardrone_print_gps_data
+    DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/
+    COMPONENT drivers
+    )
+
+    INSTALL (FILES ${CMAKE_CURRENT_SOURCE_DIR}/ardrone_interfaces.cfg DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf)
     INSTALL(DIRECTORY config DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf)
 
 ELSE()
 	message(WARNING "ardrone_server marked to build, but required dependencies were not met.
 		You should install third party library: ardonelib")
 ENDIF()
+
diff --git a/src/drivers/basic_server/CMakeLists.txt b/src/drivers/basic_server/CMakeLists.txt
@@ -27,3 +27,11 @@ TARGET_LINK_LIBRARIES(basic_server
 	${ZeroCIce_LIBRARIES}  
     	${easyiceconfig_LIBRARIES}   	
 )
+
+
+install(TARGETS basic_server
+    DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/
+    COMPONENT drivers
+    )
+
+INSTALL (FILES ${CMAKE_CURRENT_SOURCE_DIR}/basic_server.cfg DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf)
diff --git a/src/drivers/cameraserver/CMakeLists.txt b/src/drivers/cameraserver/CMakeLists.txt
@@ -31,3 +31,10 @@ TARGET_LINK_LIBRARIES(cameraserver
 ns
 		${GLOG_LIBRARIES}
 	)
+
+install(TARGETS cameraserver
+    DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/
+    COMPONENT drivers
+    )
+
+INSTALL (FILES ${CMAKE_CURRENT_SOURCE_DIR}/cameraserver.cfg DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf)
diff --git a/src/drivers/emSensorDriver/CMakeLists.txt b/src/drivers/emSensorDriver/CMakeLists.txt
@@ -35,6 +35,13 @@ if(wiringPi_LIBRARY)
                 ${wiringPi_LIBRARY}
         )
 
+        INSTALL (FILES ${CMAKE_CURRENT_SOURCE_DIR}/emSensorDriver.cfg DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf)
+
+        install(TARGETS emSensorDriver
+          DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/
+          COMPONENT drivers
+        )
+
     else()
       message("Boost thread library is required to build emSensorDriver, skipping driver build.")
     endif()

diff --git a/src/drivers/gazeboserver/plugins/car/CMakeLists.txt b/src/drivers/gazeboserver/plugins/car/CMakeLists.txt
@@ -36,6 +36,6 @@ target_link_libraries(carPose3D
 INSTALL (TARGETS carMotors DESTINATION share/jderobot/gazebo/plugins/car/ COMPONENT core)
 INSTALL (TARGETS carPose3D DESTINATION share/jderobot/gazebo/plugins/car/ COMPONENT core)
 FILE(GLOB_RECURSE CFG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cfg)
-INSTALL (FILES ${CFG_FILES} DESTINATION share/jderobot/gazebo/plugins/car/ COMPONENT core)
+INSTALL (FILES ${CFG_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf COMPONENT core)
 
 
diff --git a/src/drivers/gazeboserver/plugins/f1/CMakeLists.txt b/src/drivers/gazeboserver/plugins/f1/CMakeLists.txt
@@ -53,6 +53,6 @@ INSTALL (TARGETS motorsF1 laserF1 pose3dF1 camera_dumpF1
 	COMPONENT core)
 
 FILE(GLOB_RECURSE CFG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/cfg/*.cfg)
-INSTALL (FILES ${CFG_FILES} DESTINATION share/jderobot/gazebo/plugins/f1/ COMPONENT core)
+INSTALL (FILES ${CFG_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf COMPONENT core)
 
 #MIO endif()
diff --git a/src/drivers/gazeboserver/plugins/flyingKinect2/CMakeLists.txt b/src/drivers/gazeboserver/plugins/flyingKinect2/CMakeLists.txt
@@ -58,7 +58,7 @@ target_link_libraries(${PROJECT_NAME}
 
 INSTALL (TARGETS ${PROJECT_NAME} DESTINATION share/jderobot/gazebo/plugins/flyingkinect/ COMPONENT core)
 FILE(GLOB_RECURSE CFG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cfg)
-INSTALL (FILES ${CFG_FILES} DESTINATION share/jderobot/gazebo/plugins/flyingkinect/ COMPONENT core)
+INSTALL (FILES ${CFG_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf COMPONENT core)
 
 else()
    message(WARNING "flyingKinect requirements unmet: missing PCL_LIBRARIES")

diff --git a/src/drivers/gazeboserver/plugins/kinect/CMakeLists.txt b/src/drivers/gazeboserver/plugins/kinect/CMakeLists.txt
@@ -31,6 +31,6 @@ target_link_libraries(kinectPlugin
 
 INSTALL (TARGETS kinectPlugin DESTINATION share/jderobot/gazebo/plugins/kinect/ COMPONENT core)
 FILE(GLOB_RECURSE CFG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cfg)
-INSTALL (FILES ${CFG_FILES} DESTINATION share/jderobot/gazebo/plugins/kinect/ COMPONENT core)
+INSTALL (FILES ${CFG_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf COMPONENT core)
 
 endif()
diff --git a/src/drivers/gazeboserver/plugins/pioneer/CMakeLists.txt b/src/drivers/gazeboserver/plugins/pioneer/CMakeLists.txt
@@ -48,4 +48,4 @@ target_link_libraries(pose3dencoders ${GAZEBO_libraries}
 
 INSTALL (TARGETS motors laser camera_dump pose3dencoders pose3d_pioneer DESTINATION share/jderobot/gazebo/plugins/pioneer/ COMPONENT core)
 FILE(GLOB_RECURSE CFG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cfg)
-INSTALL (FILES ${CFG_FILES} DESTINATION share/jderobot/gazebo/plugins/pioneer/ COMPONENT core)
+INSTALL (FILES ${CFG_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf COMPONENT core)
diff --git a/src/drivers/gazeboserver/plugins/quadrotor2/CMakeLists.txt b/src/drivers/gazeboserver/plugins/quadrotor2/CMakeLists.txt
@@ -82,4 +82,4 @@ set_target_properties(quadrotorplugin2 PROPERTIES COMPILE_FLAGS "-Wall -Wextra")
 
 INSTALL (TARGETS quadrotorplugin2 DESTINATION share/jderobot/gazebo/plugins/quadrotor/ COMPONENT core)
 FILE(GLOB_RECURSE CFG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cfg)
-INSTALL (FILES ${CFG_FILES} DESTINATION share/jderobot/gazebo/plugins/quadrotor/ COMPONENT core)
+INSTALL (FILES ${CFG_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf COMPONENT core)
diff --git a/src/drivers/gazeboserver/plugins/roomba/CMakeLists.txt b/src/drivers/gazeboserver/plugins/roomba/CMakeLists.txt
@@ -51,6 +51,6 @@ set_target_properties(roombaplugin PROPERTIES COMPILE_FLAGS "-Wall -Wextra")
 
 INSTALL (TARGETS roombaplugin DESTINATION share/jderobot/gazebo/plugins/roomba/ COMPONENT core)
 FILE(GLOB_RECURSE CFG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/cfg/*.cfg)
-INSTALL (FILES ${CFG_FILES} DESTINATION share/jderobot/gazebo/plugins/roomba/ COMPONENT core)
+INSTALL (FILES ${CFG_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf COMPONENT core)
 
 #MIO endif()
diff --git a/src/drivers/gazeboserver/plugins/turtlebot/CMakeLists.txt b/src/drivers/gazeboserver/plugins/turtlebot/CMakeLists.txt
@@ -63,6 +63,6 @@ set_target_properties(turtlebotplugin PROPERTIES COMPILE_FLAGS "-Wall -Wextra")
 
 INSTALL (TARGETS turtlebotplugin DESTINATION share/jderobot/gazebo/plugins/turtlebot/ COMPONENT core)
 FILE(GLOB_RECURSE CFG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/cfg/*.cfg)
-INSTALL (FILES ${CFG_FILES} DESTINATION share/jderobot/gazebo/plugins/turtlebot/ COMPONENT core)
+INSTALL (FILES ${CFG_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf COMPONENT core)
 
 #MIO endif()
diff --git a/src/drivers/giraffeServer/CMakeLists.txt b/src/drivers/giraffeServer/CMakeLists.txt
@@ -23,4 +23,11 @@ TARGET_LINK_LIBRARIES(giraffeServer
     QtCore
     QtGui
 )
+
+install(TARGETS giraffeServer
+          DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/
+          COMPONENT drivers
+        )
+INSTALL (FILES ${CMAKE_CURRENT_SOURCE_DIR}/giraffeServer.cfg DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf)
 endif()
+
diff --git a/src/drivers/kinect2server/CMakeLists.txt b/src/drivers/kinect2server/CMakeLists.txt
@@ -40,6 +40,14 @@ link_directories(
         ${ZLIB_LIBRARIES}
         ${freenect2_LIBRARIES}
     )
+
+    install(TARGETS kinect2Server
+          DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/
+          COMPONENT drivers
+        )
+
+    INSTALL (FILES ${CMAKE_CURRENT_SOURCE_DIR}/kinect2server.cfg DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf)
 ELSE()
     message("Disabled")
 ENDIF()
+
diff --git a/src/drivers/kobuki_driver/CMakeLists.txt b/src/drivers/kobuki_driver/CMakeLists.txt
@@ -27,4 +27,12 @@ if (${kobuki_COMPILE})
         ${ZeroCIce_LIBRARIES}
     	${easyiceconfig_LIBRARIES} 
     )
+
+    install(TARGETS kobuki_driver
+          DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/
+          COMPONENT drivers
+        )
+
+    INSTALL (FILES ${CMAKE_CURRENT_SOURCE_DIR}/kobuki_driver.cfg DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf)
 ENDIF()
+
diff --git a/src/drivers/laser_server/CMakeLists.txt b/src/drivers/laser_server/CMakeLists.txt
@@ -24,3 +24,10 @@ TARGET_LINK_LIBRARIES(${NAME}
     JderobotInterfaces
     ${easyiceconfig_LIBRARIES}
 )
+
+install(TARGETS ${NAME}
+          DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/
+          COMPONENT drivers
+        )
+
+INSTALL (FILES ${CMAKE_CURRENT_SOURCE_DIR}/laser_server.cfg DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf)
diff --git a/src/drivers/openni1Server/CMakeLists.txt b/src/drivers/openni1Server/CMakeLists.txt
@@ -64,4 +64,12 @@ IF(openni_LIBRARIES AND LIBUSB_INCLUDE_DIRS)
 				  progeo
 				)
 		ENDIF()
+
+		install(TARGETS openni1Server
+          DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/
+          COMPONENT drivers
+        )
+
+		INSTALL (FILES ${CMAKE_CURRENT_SOURCE_DIR}/openni1Server.cfg DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf)
 ENDIF()
+
diff --git a/src/drivers/openniServer/CMakeLists.txt b/src/drivers/openniServer/CMakeLists.txt
@@ -89,4 +89,13 @@ IF(OPENNI2_LIB)
 			${GLOG_LIBRARIES}
 		)
 	endif()
+
+	install(TARGETS openniServer
+          DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/
+          COMPONENT drivers
+        )
+
+	FILE(GLOB_RECURSE CFG_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.cfg)
+	INSTALL (FILES ${CFG_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf COMPONENT core)
 ENDIF()
+
diff --git a/src/drivers/pclRGBDServer/CMakeLists.txt b/src/drivers/pclRGBDServer/CMakeLists.txt
@@ -32,4 +32,12 @@ if(pcl_openni)
       ${easyiceconfig_LIBRARIES}
     )
 
+    install(TARGETS pclRGBDServer
+          DESTINATION ${CMAKE_INSTALL_PREFIX}/bin/
+          COMPONENT drivers
+        )
+
+    INSTALL (FILES ${CMAKE_CURRENT_SOURCE_DIR}/kinectServer.cfg DESTINATION ${CMAKE_INSTALL_PREFIX}/share/jderobot/conf)
+
 endif()
+
diff --git a/src/interfaces/CMakeLists.txt b/src/interfaces/CMakeLists.txt
@@ -1,3 +1,6 @@
+cmake_minimum_required(VERSION 2.8)
+project(jderobotInterfaces)
+
 set(SLICE_NEW_STYLE "ON")
 if (NOT DEFINED SLICE_NEW_STYLE)
 
@@ -121,3 +124,31 @@ endif()
 set(ice_interfaces_INCLUDE_DIRS "${SLICE_CPP_DIR}" CACHE PATH "Find(ice_interfaces)")
 
 endif(NOT DEFINED SLICE_NEW_STYLE)
+
+
+###################
+#                 #
+#    INSTALL      #
+#                 #
+###################
+
+INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/libJderobotInterfaces.so DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/jderobot COMPONENT core)
+
+# Install python files
+FILE(GLOB_RECURSE HEADERS_FILES ${CMAKE_CURRENT_BINARY_DIR}/python/*py)
+FOREACH(header ${HEADERS_FILES})
+    INSTALL(FILES ${header} DESTINATION ${PYTHON_MODULE_PATH}/ COMPONENT core)
+ENDFOREACH(header)
+
+INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/python/jderobot/__init__.py DESTINATION ${PYTHON_MODULE_PATH}/jderobot/ COMPONENT core)
+
+# Install interfaces headers
+INSTALL(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/cpp/jderobot/
+    DESTINATION ${CMAKE_INSTALL_PREFIX}/include/jderobot
+    COMPONENT core
+    FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
+)
+
+# Install slice
+FILE(GLOB SLICE_FILES ${CMAKE_CURRENT_SOURCE_DIR}/slice/jderobot/*.ice)
+INSTALL (FILES ${SLICE_FILES} DESTINATION ${CMAKE_INSTALL_PREFIX}/include/jderobot/slice COMPONENT core)
diff --git a/src/libs/depthLib/CMakeLists.txt b/src/libs/depthLib/CMakeLists.txt
@@ -19,3 +19,9 @@ install(TARGETS depthLib depthLibshare
     DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/jderobot
     COMPONENT core
 )
+
+FILE(GLOB_RECURSE HEADERS_FILES ${CMAKE_CURRENT_SOURCE_DIR}/*.h)
+install( FILES ${HEADERS_FILES}
+    DESTINATION ${CMAKE_INSTALL_PREFIX}/include/jderobot/depthLib/
+    COMPONENT core
+)
diff --git a/src/libs/easyiceconfig/CMakeLists.txt b/src/libs/easyiceconfig/CMakeLists.txt
@@ -70,7 +70,7 @@ target_link_libraries(test_loader ${PROJECT_NAME} ${Ice_LIBRARIES})
 
 
 ### Install
-install(TARGETS ${PROJECT_NAME}
+install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}-embedded
     DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/jderobot
     COMPONENT core
 )

diff --git a/src/libs/fuzzylib/CMakeLists.txt b/src/libs/fuzzylib/CMakeLists.txt
@@ -11,3 +11,8 @@ install(TARGETS fuzzylib fuzzyshare
     DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/jderobot
     COMPONENT core
 )
+
+install( FILES fuzzylib.h
+    DESTINATION ${CMAKE_INSTALL_PREFIX}/include/jderobot/fuzzylib/
+    COMPONENT core
+)
diff --git a/src/libs/geometry/CMakeLists.txt b/src/libs/geometry/CMakeLists.txt
@@ -25,3 +25,21 @@ install(TARGETS geometry
     DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/jderobot
     COMPONENT core
 )
+
+
+
+FILE(GLOB_RECURSE GEOMETRY_HEADERS_FILES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} */*.h)
+
+FOREACH(currentSourceFile ${GEOMETRY_HEADERS_FILES})
+string(REGEX REPLACE "(.*/).*.h" "\\1" new_source1 ${currentSourceFile})
+	install( FILES ${currentSourceFile}
+    	DESTINATION ${CMAKE_INSTALL_PREFIX}/include/jderobot/geometry/${new_source1}
+    	COMPONENT core
+	)
+ENDFOREACH(currentSourceFile)
+
+install( FILES Dense.h
+    DESTINATION ${CMAKE_INSTALL_PREFIX}/include/jderobot/geometry/
+    COMPONENT core
+)
+