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commit c62d2b2e64e3d36cac91fbd656db8f69b7c42dc5
Author: Alexis Ballier <aballier@gentoo.org>
Date:   Wed Sep 23 14:58:50 2015 +0200

    Revert "Remove all references to FLTK/Fluid"
    
    This reverts commit 933f2bf0b776ee028aaa4b58a382101d81fb042e.

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7ddd2c7..f709ea5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,12 +14,27 @@ find_package(catkin REQUIRED
 
 find_package(Boost REQUIRED COMPONENTS system thread)
 
+find_package(FLTK REQUIRED)
+if(FLTK_FOUND)
+  # FindFLTK.cmake doesn't populate FLTK_INCLUDE_DIRS on some systems,
+  # so we try to use FLTK_INCLUDE_DIR if we need to.
+  if("${FLTK_INCLUDE_DIRS}" STREQUAL "")
+    set(FLTK_INCLUDE_DIRS "${FLTK_INCLUDE_DIR}")
+  endif()
+  message(status "FLTK_LIBRARIES=" ${FLTK_LIBRARIES})
+  message(status "FLTK_INCLUDE_DIR=" ${FLTK_INCLUDE_DIR})
+  message(status "FLTK_INCLUDE_DIRS=" ${FLTK_INCLUDE_DIRS})
+else()
+  message(fatal_error "FLTK not found...aborting!")
+endif()
+
 set(Stage_DIR cmake)
 find_package(Stage REQUIRED)
 
 include_directories(
   ${catkin_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIRS}
+  ${FLTK_INCLUDE_DIRS}
   ${Stage_INCLUDE_DIRS}
 )
 
@@ -34,6 +49,7 @@ endif()
 target_link_libraries(stageros
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
+  ${FLTK_LIBRARIES}
   ${Stage_LIBRARIES}
   ${${PROJECT_NAME}_extra_libs}
 )
diff --git a/package.xml b/package.xml
index 8803254..fde1a64 100644
--- a/package.xml
+++ b/package.xml
@@ -17,6 +17,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <build_depend>boost</build_depend>
+  <build_depend>libfltk-dev</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>nav_msgs</build_depend>
   <build_depend>roscpp</build_depend>
@@ -28,6 +29,7 @@
   <build_depend>tf</build_depend>
 
   <run_depend>boost</run_depend>
+  <run_depend>fluid</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>nav_msgs</run_depend>
   <run_depend>roscpp</run_depend>