I've installed a library into my /usr/local directory. I would now like to include this directory into my CMakeLists.txt. How do I do this?

I have installed a library onto my system and I would now like to import this library to build with cmake in my CMakeLists.txt file but I’m not able to import it. I get errors that the library can’t be found when I run cmake ..

The library was installed to /usr/local and it is in a few sub folders here. I have them all listed below.

This is the part of my CMakeLists.txt which fails.

find_package(MUJOCO REQUIRED)
link_libraries(MUJOCO::mujoco)

This is the error I get with this attempt to import the library in my CMakeLists.txt

CMake Error at CMakeLists.txt:65 (find_package):
  By not providing "FindMUJOCO.cmake" in CMAKE_MODULE_PATH this project has
  asked CMake to find a package configuration file provided by "MUJOCO", but
  CMake did not find one.

  Could not find a package configuration file provided by "MUJOCO" with any
  of the following names:

    MUJOCOConfig.cmake
    mujoco-config.cmake

  Add the installation prefix of "MUJOCO" to CMAKE_PREFIX_PATH or set
  "MUJOCO_DIR" to a directory containing one of the above files.  If "MUJOCO"
  provides a separate development package or SDK, be sure it has been
  installed.

This is where the mujoco library was installed on my system, the library I want to include was installed.
I’m not sure it is write to hand code every one of these paths.

-- Install configuration: "Release"
-- Installing: /usr/local/bin/basic
-- Installing: /usr/local/bin/compile
-- Installing: /usr/local/bin/derivative
-- Installing: /usr/local/bin/record
-- Installing: /usr/local/bin/testspeed
-- Installing: /usr/local/bin/testxml
-- Installing: /usr/local/bin/simulate
-- Installing: /usr/local/lib/libmujoco.so.2.2.1
-- Installing: /usr/local/lib/libmujoco.so
-- Installing: /usr/local/include/mujoco/mjdata.h
-- Installing: /usr/local/include/mujoco/mjexport.h
-- Installing: /usr/local/include/mujoco/mjmodel.h
-- Installing: /usr/local/include/mujoco/mjrender.h
-- Installing: /usr/local/include/mujoco/mjtnum.h
-- Installing: /usr/local/include/mujoco/mjui.h
-- Installing: /usr/local/include/mujoco/mjvisualize.h
-- Installing: /usr/local/include/mujoco/mjxmacro.h
-- Installing: /usr/local/include/mujoco/mujoco.h
-- Installing: /usr/local/lib/cmake/mujoco/mujocoTargets.cmake
-- Installing: /usr/local/lib/cmake/mujoco/mujocoTargets-release.cmake
-- Installing: /usr/local/lib/cmake/mujoco/mujocoConfig.cmake
-- Installing: /usr/local/lib/cmake/mujoco/mujocoConfigVersion.cmake
-- Installing: /usr/local/share/mujoco/model
-- Installing: /usr/local/share/mujoco/model/hammock
-- Installing: /usr/local/share/mujoco/model/hammock/humanoid_body.xml
-- Installing: /usr/local/share/mujoco/model/hammock/hammock.xml
-- Installing: /usr/local/share/mujoco/model/tendon_arm
-- Installing: /usr/local/share/mujoco/model/tendon_arm/arm26.xml
-- Installing: /usr/local/share/mujoco/model/composite
-- Installing: /usr/local/share/mujoco/model/composite/scene.xml
-- Installing: /usr/local/share/mujoco/model/composite/cloth.xml
-- Installing: /usr/local/share/mujoco/model/composite/softbox.xml
-- Installing: /usr/local/share/mujoco/model/composite/asset
-- Installing: /usr/local/share/mujoco/model/composite/asset/sponge.png
-- Installing: /usr/local/share/mujoco/model/composite/asset/marble.png
-- Installing: /usr/local/share/mujoco/model/composite/asset/carpet.png
-- Installing: /usr/local/share/mujoco/model/composite/loop.xml
-- Installing: /usr/local/share/mujoco/model/composite/particle.xml
-- Installing: /usr/local/share/mujoco/model/composite/rope.xml
-- Installing: /usr/local/share/mujoco/model/composite/grid2pin.xml
-- Installing: /usr/local/share/mujoco/model/humanoid
-- Installing: /usr/local/share/mujoco/model/humanoid/22_humanoids.xml
-- Installing: /usr/local/share/mujoco/model/humanoid/humanoid.xml
-- Installing: /usr/local/share/mujoco/model/flag
-- Installing: /usr/local/share/mujoco/model/flag/flag.xml
-- Installing: /usr/local/share/mujoco/model/mug
-- Installing: /usr/local/share/mujoco/model/mug/mug.obj
-- Installing: /usr/local/share/mujoco/model/mug/mug.png
-- Installing: /usr/local/share/mujoco/model/mug/mug.xml
-- Installing: /usr/local/share/mujoco/model/slider_crank
-- Installing: /usr/local/share/mujoco/model/slider_crank/slider_crank.xml
-- Installing: /usr/local/share/mujoco/model/humanoid100
-- Installing: /usr/local/share/mujoco/model/humanoid100/humanoid100.xml
-- Installing: /usr/local/share/mujoco/model/humanoid100/humanoid_body.xml

>Solution :

The only cmake configuration files installed by the lib are

-- Installing: /usr/local/lib/cmake/mujoco/mujocoTargets.cmake
-- Installing: /usr/local/lib/cmake/mujoco/mujocoTargets-release.cmake
-- Installing: /usr/local/lib/cmake/mujoco/mujocoConfig.cmake
-- Installing: /usr/local/lib/cmake/mujoco/mujocoConfigVersion.cmake

find_package(<Package> ...)

in config mode checks for the files

<package>-config.cmake
<Package>Config.cmake

where <package> is the <Package> with the first character converted to lower case.

, see the find_package() documentation

You’ve used find_package(MUJOCO REQUIRED) in your cmake project, which means, cmake is looking for a file named mujoco-config.cmake or MUJOCOConfig.cmake, but not for mujocoConfig.cmake.

You need to use

find_package(mujoco REQUIRED)

instead.

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