-
Notifications
You must be signed in to change notification settings - Fork 0
/
CMakeLists (copy).txt
executable file
·216 lines (191 loc) · 8.13 KB
/
CMakeLists (copy).txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
cmake_minimum_required(VERSION 2.8.3)
project(stroll_bearnav)
set ( CMAKE_CXX_FLAGS "-ggdb")
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
nav_msgs
geometry_msgs
cv_bridge
image_transport
message_generation
dynamic_reconfigure
actionlib_msgs
actionlib
rosbag
)
find_package(OpenCV REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(DIRECTORY msg
FILES
Feature.msg
FeatureArray.msg
PathProfile.msg
NavigationInfo.msg
)
## Generate services in the 'srv' folder
add_service_files(
FILES
SetDistance.srv
)
## Generate actions in the 'action' folder
add_action_files(
FILES
mapper.action
navigator.action
loadMap.action
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
actionlib_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
generate_dynamic_reconfigure_options(
cfg/distance.cfg
cfg/featureExtraction.cfg
cfg/navigator.cfg
)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES cameleon_ros_driver
CATKIN_DEPENDS roscpp rospy std_msgs message_runtime actionlib_msgs
# DEPENDS
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
)
include_directories(${OpenCV_INCLUDE_DIRS})
## Declare a C++ library
#add_library(cameleon_driver src/CRobot.cpp)
#add_library(cameleon_message src/CMessage.cpp)
#add_library(cameleon_message_client src/CMessageClient.cpp)
#add_library(cameleon_timer src/CTimer.cpp)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(cameleon_ros_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
add_executable(mapper_node src/mapper.cpp)
add_executable(feature_extraction_node src/featureExtraction.cpp)
add_executable(odometry_monitor_node src/odometryMonitor.cpp)
add_executable(map_preprocessor_node src/mapPreprocessor.cpp)
add_executable(navigator_node src/navigator.cpp)
add_executable(end2end_navigator_node src/navigator_e2e.cpp)
# add_executable(feature_matching_node src/featureMatching.cpp)
## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(feature_extraction_node ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
add_dependencies(mapper_node ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
add_dependencies(map_preprocessor_node ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
add_dependencies(odometry_monitor_node ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
add_dependencies(navigator_node ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
add_dependencies(end2end_navigator_node ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
# add_dependencies(feature_matching_node ${PROJECT_NAME}_generate_messages_cpp ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
target_link_libraries(mapper_node ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
target_link_libraries(feature_extraction_node ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
target_link_libraries(odometry_monitor_node ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
target_link_libraries(map_preprocessor_node ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
target_link_libraries(navigator_node ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
target_link_libraries(end2end_navigator_node ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
# target_link_libraries(feature_matching_node ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS cameleon_ros_driver cameleon_ros_driver_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_cameleon_ros_driver.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)