122 lines
3.5 KiB
CMake
122 lines
3.5 KiB
CMake
cmake_minimum_required(VERSION 2.8.3)
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project(catvehicle)
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SET( CMAKE_CXX_FLAGS "-std=c++11 -O3")
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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controller_manager
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gazebo_ros_control
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geometry_msgs
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position_controllers
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roscpp
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rospy
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sensor_msgs
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sicktoolbox
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sicktoolbox_wrapper
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std_msgs
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tf
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transmission_interface
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velocity_controllers
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velodyne_pointcloud
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)
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## System dependencies are found with CMake's conventions
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find_package(Boost REQUIRED COMPONENTS system)
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# Need to have these in order to find/include boost stuff
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include_directories(${Boost_INCLUDE_DIRS})
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link_directories(${Boost_LIBRARY_DIRS})
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include (FindPkgConfig)
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if (PKG_CONFIG_FOUND)
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pkg_check_modules(GAZEBO gazebo)
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endif()
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include_directories(${GAZEBO_INCLUDE_DIRS}
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# ${catkin_INCLUDE_DIRS}
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)
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link_directories(${GAZEBO_LIBRARY_DIRS})
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include_directories(include)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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catkin_python_setup()
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES catvehicle
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CATKIN_DEPENDS geometry_msgs roscpp rospy sensor_msgs std_msgs velodyne_pointcloud tf
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(include include/catvehicle)
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include_directories(
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${catkin_INCLUDE_DIRS}
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)
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add_library(catvehiclegazebo SHARED src/cont.cc ./include/catvehicle/cont.hh)
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target_link_libraries(catvehiclegazebo ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
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add_executable( distanceEstimator src/distanceEstimator.cpp )
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target_link_libraries( distanceEstimator ${catkin_LIBRARIES} )
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add_executable( distanceEstimatorSteeringBased src/distanceEstimatorSteeringBased.cpp )
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target_link_libraries( distanceEstimatorSteeringBased ${catkin_LIBRARIES})
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add_executable( velocityEstimator src/velocityEstimator.cpp )
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target_link_libraries( velocityEstimator ${catkin_LIBRARIES} )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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# added for running the simulation details without need to have
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# the information locally sourced
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install(DIRECTORY launch
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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install(DIRECTORY meshes
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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install(DIRECTORY urdf
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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install(DIRECTORY worlds
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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## Mark executables and/or libraries for installation
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install(TARGETS catvehiclegazebo
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_catvehicle.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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