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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(catvehicle)
## 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
controller_manager
gazebo_ros_control
geometry_msgs
position_controllers
roscpp
rospy
sensor_msgs
sicktoolbox
sicktoolbox_wrapper
std_msgs
tf
transmission_interface
velocity_controllers
velodyne_pointcloud
)
## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)
# Need to have these in order to find/include boost stuff
include_directories(${Boost_INCLUDE_DIRS})
link_directories(${Boost_LIBRARY_DIRS})
include (FindPkgConfig)
if (PKG_CONFIG_FOUND)
pkg_check_modules(GAZEBO gazebo)
endif()
include_directories(${GAZEBO_INCLUDE_DIRS}
# ${catkin_INCLUDE_DIRS}
)
link_directories(${GAZEBO_LIBRARY_DIRS})
include_directories(include)
## 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()
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
catkin_package(
INCLUDE_DIRS include
LIBRARIES catvehicle
CATKIN_DEPENDS geometry_msgs roscpp rospy sensor_msgs std_msgs velodyne_pointcloud tf
# DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include include/catvehicle)
include_directories(
${catkin_INCLUDE_DIRS}
)
add_library(catvehiclegazebo SHARED src/cont.cc ./include/catvehicle/cont.hh)
target_link_libraries(catvehiclegazebo ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_executable( distanceEstimator src/distanceEstimator.cpp )
target_link_libraries( distanceEstimator ${catkin_LIBRARIES} )
add_executable( distanceEstimatorSteeringBased src/distanceEstimatorSteeringBased.cpp )
target_link_libraries( distanceEstimatorSteeringBased ${catkin_LIBRARIES})
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
# added for running the simulation details without need to have
# the information locally sourced
install(DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY meshes
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY urdf
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY worlds
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
## Mark executables and/or libraries for installation
install(TARGETS catvehiclegazebo
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_catvehicle.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)