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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(robomagellan)
find_package(ament_cmake REQUIRED)
find_package(angles REQUIRED)
find_package(geographic_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(pcl_ros REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"srv/FromLLA.srv"
"srv/ToLLA.srv"
DEPENDENCIES geographic_msgs geometry_msgs
)
rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} rosidl_typesupport_cpp)
include_directories(include)
add_executable(gps_to_cart
src/convert_gps.cpp
src/gps_to_cart.cpp
)
ament_target_dependencies(gps_to_cart
geographic_msgs
geometry_msgs
rclcpp
sensor_msgs
)
target_link_libraries(gps_to_cart proj "${cpp_typesupport_target}")
add_executable(ground_filter src/ground_filter.cpp)
ament_target_dependencies(ground_filter
angles
pcl_conversions
pcl_ros
rclcpp
sensor_msgs
tf2_geometry_msgs
tf2_ros
)
add_executable(spherical_projector src/spherical_projector.cpp)
ament_target_dependencies(spherical_projector
pcl_conversions
pcl_ros
rclcpp
sensor_msgs
tf2_ros
)
install(
DIRECTORY config
DESTINATION share/${PROJECT_NAME}/
)
install(
DIRECTORY launch
DESTINATION share/${PROJECT_NAME}/
)
install(
DIRECTORY meshes
DESTINATION share/${PROJECT_NAME}/
)
install(
DIRECTORY urdf
DESTINATION share/${PROJECT_NAME}/
)
install(
TARGETS
gps_to_cart
ground_filter
spherical_projector
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME}
)
ament_export_dependencies(rosidl_default_runtime)
ament_package()