Use find_description_package

CMakeLists.txt

@@ -7,23 +7,8 @@ set(CMAKE_CXX_STANDARD 11)
 find_package(hoap3_description REQUIRED)
 find_package(mc_rtc REQUIRED)
 
-if("${hoap3_description_INSTALL_PREFIX}" STREQUAL "")
-  if("${hoap3_description_SOURCE_PREFIX}" STREQUAL "")
-    message(
-      FATAL_ERROR
-        "Your hoap3_description package does not define where to find the data")
-  endif()
-  set(HOAP3_DESCRIPTION_PATH "${hoap3_description_SOURCE_PREFIX}")
-else()
-  if(EXISTS "${hoap3_description_INSTALL_PREFIX}/share/hoap3_description")
-    set(HOAP3_DESCRIPTION_PATH
-        "${hoap3_description_INSTALL_PREFIX}/share/hoap3_description")
-  else()
-    set(HOAP3_DESCRIPTION_PATH "${hoap3_description_INSTALL_PREFIX}")
-  endif()
-endif()
-
-message("HOAP3_DESCRIPTION_PATH: ${HOAP3_DESCRIPTION_PATH}")
+find_description_package(hoap3_description)
+message(STATUS "HOAP3_DESCRIPTION_PATH: ${HOAP3_DESCRIPTION_PATH}")
 configure_file(src/config.h.in "${CMAKE_CURRENT_BINARY_DIR}/include/config.h")
 
 add_robot(hoap3 src/hoap3.cpp src/hoap3.h)

src/hoap3.h

@@ -30,7 +30,7 @@ extern "C"
 {
   ROBOT_MODULE_API void MC_RTC_ROBOT_MODULE(std::vector<std::string> & names)
   {
-    names = {"HOAP3", "HOAP3::Fixed"};
+    names = {"HOAP3", "HOAP3::Canonical", "HOAP3::Fixed", "HOAP3::Fixed::Canonical"};
   }
   ROBOT_MODULE_API void destroy(mc_rbdyn::RobotModule * ptr)
   {