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octomap_mapping/octomap_server/CMakeLists.txt
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| cmake_minimum_required(VERSION 3.0.2) | |
| project(octomap_server) | |
| set(PACKAGE_DEPENDENCIES | |
| roscpp | |
| visualization_msgs | |
| sensor_msgs | |
| pcl_ros | |
| pcl_conversions | |
| nav_msgs | |
| std_msgs | |
| std_srvs | |
| octomap_ros | |
| octomap_msgs | |
| dynamic_reconfigure | |
| nodelet | |
| ) | |
| find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES}) | |
| find_package(octomap REQUIRED) | |
| add_definitions(-DOCTOMAP_NODEBUGOUT) | |
| include_directories( | |
| include | |
| ${catkin_INCLUDE_DIRS} | |
| ${OCTOMAP_INCLUDE_DIRS} | |
| ) | |
| generate_dynamic_reconfigure_options(cfg/OctomapServer.cfg) | |
| catkin_package( | |
| INCLUDE_DIRS include | |
| LIBRARIES ${PROJECT_NAME} | |
| CATKIN_DEPENDS ${PACKAGE_DEPENDENCIES} | |
| DEPENDS OCTOMAP | |
| ) | |
| set(LINK_LIBS | |
| ${OCTOMAP_LIBRARIES} | |
| ${catkin_LIBRARIES} | |
| ) | |
| add_library(${PROJECT_NAME} src/OctomapServer.cpp src/OctomapServerMultilayer.cpp src/TrackingOctomapServer.cpp) | |
| target_link_libraries(${PROJECT_NAME} ${LINK_LIBS}) | |
| add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg) | |
| add_library(${PROJECT_NAME}_color src/OctomapServer.cpp src/OctomapServerMultilayer.cpp src/TrackingOctomapServer.cpp) | |
| target_link_libraries(${PROJECT_NAME}_color ${LINK_LIBS}) | |
| add_dependencies(${PROJECT_NAME}_color ${PROJECT_NAME}_gencfg) | |
| target_compile_definitions(${PROJECT_NAME}_color PUBLIC COLOR_OCTOMAP_SERVER) | |
| add_executable(octomap_server_node src/octomap_server_node.cpp) | |
| target_link_libraries(octomap_server_node ${PROJECT_NAME} ${LINK_LIBS}) | |
| add_executable(octomap_color_server_node src/octomap_server_node.cpp) | |
| target_link_libraries(octomap_color_server_node ${PROJECT_NAME}_color ${LINK_LIBS}) | |
| add_executable(octomap_server_static src/octomap_server_static.cpp) | |
| target_link_libraries(octomap_server_static ${PROJECT_NAME} ${LINK_LIBS}) | |
| add_executable(octomap_server_multilayer src/octomap_server_multilayer.cpp) | |
| target_link_libraries(octomap_server_multilayer ${PROJECT_NAME} ${LINK_LIBS}) | |
| add_executable(octomap_saver src/octomap_saver.cpp) | |
| target_link_libraries(octomap_saver ${PROJECT_NAME} ${LINK_LIBS}) | |
| add_executable(octomap_tracking_server_node src/octomap_tracking_server_node.cpp) | |
| target_link_libraries(octomap_tracking_server_node ${PROJECT_NAME} ${LINK_LIBS}) | |
| # Nodelet | |
| add_library(octomap_server_nodelet src/octomap_server_nodelet.cpp) | |
| target_link_libraries(octomap_server_nodelet ${PROJECT_NAME} ${LINK_LIBS}) | |
| add_library(octomap_color_server_nodelet src/octomap_server_nodelet.cpp) | |
| target_link_libraries(octomap_color_server_nodelet ${PROJECT_NAME}_color ${LINK_LIBS}) | |
| # install targets: | |
| install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_color | |
| octomap_server_node | |
| octomap_color_server_node | |
| octomap_server_static | |
| octomap_server_multilayer | |
| octomap_saver | |
| octomap_tracking_server_node | |
| octomap_server_nodelet | |
| octomap_color_server_nodelet | |
| ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | |
| LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | |
| RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | |
| ) | |
| install(DIRECTORY include/${PROJECT_NAME}/ | |
| DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} | |
| ) | |
| install(DIRECTORY launch/ | |
| DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch | |
| ) | |
| install(FILES | |
| nodelet_plugins.xml | |
| color_nodelet_plugins.xml | |
| DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} | |
| ) |