From eb2fa71be7b9b1e0525a3d20c8d1a979cf277dcc Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Thu, 11 Apr 2024 14:00:39 +0200
Subject: [PATCH 1/2] CMake: allow use of installed jrl-cmakemodule

---
 CMakeLists.txt | 18 +++++++++++++++---
 1 file changed, 15 insertions(+), 3 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index a689c4606..ba1bf98e0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -55,11 +55,23 @@ option(HPP_FCL_ENABLE_LOGGING "Activate logging for warnings or error messages.
 
 # Check if the submodule cmake have been initialized
 set(JRL_CMAKE_MODULES "${CMAKE_CURRENT_LIST_DIR}/cmake")
-if(NOT EXISTS "${CMAKE_SOURCE_DIR}/cmake/base.cmake")
-  if(${CMAKE_VERSION} VERSION_LESS "3.14.0")
+if(EXISTS "${JRL_CMAKE_MODULES}/base.cmake")
+  message(STATUS "JRL cmakemodules found in 'cmake/' git submodule")
+else()
+  find_package(jrl-cmakemodules QUIET CONFIG)
+  if(jrl-cmakemodules_FOUND)
+    get_property(
+      JRL_CMAKE_MODULES
+      TARGET jrl-cmakemodules::jrl-cmakemodules
+      PROPERTY INTERFACE_INCLUDE_DIRECTORIES)
+    message(STATUS "JRL cmakemodules found on system at ${JRL_CMAKE_MODULES}")
+  elseif(${CMAKE_VERSION} VERSION_LESS "3.14.0")
     message(
       FATAL_ERROR
-        "\nPlease run the following command first:\ngit submodule update --init\n"
+        "\nCan't find jrl-cmakemodules. Please either:\n"
+        "  - use git submodule: 'git submodule update --init'\n"
+        "  - or install https://github.com/jrl-umi3218/jrl-cmakemodules\n"
+        "  - or upgrade your CMake version to >= 3.14 to allow automatic fetching\n"
     )
   else()
     message(STATUS "JRL cmakemodules not found. Let's fetch it.")

From 0b0a5ac54084393d80dc0071d6f0118c6e5c8ca6 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Thu, 11 Apr 2024 14:05:34 +0200
Subject: [PATCH 2/2] add changelog entry

---
 CHANGELOG.md | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 6e71b3ed8..59ee58056 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -16,6 +16,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 - [#549](https://github.com/humanoid-path-planner/hpp-fcl/pull/549)
   - Optimize EPA: ignore useless faces in EPA's polytope; warm-start support computation for `Convex`; fix edge-cases witness points computation.
   - Add `Serializable` trait to transform, collision data, collision geometries, bounding volumes, bvh models, hfields. Collision problems can now be serialized from C++ and sent to python and vice versa.
+- CMake: allow use of installed jrl-cmakemodules ([#564](https://github.com/humanoid-path-planner/hpp-fcl/pull/564))
+
 
 ### Fixed