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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(marble_guidance)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## 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
geometry_msgs
nav_msgs
roscpp
rospy
std_msgs
sensor_msgs
tf
tf2_ros
tf2_geometry_msgs
pcl_conversions
pcl_ros
octomap_ros
octomap_msgs
cv_bridge
rough_octomap
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(OpenCV REQUIRED)
find_package(octomap REQUIRED)
add_message_files(
FILES
MotionCmd.msg
TrajList.msg
HuskySafety.msg
BackupStatus.msg
BeaconDetect.msg
)
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
sensor_msgs
geometry_msgs
std_msgs
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
# INCLUDE_DIRS include ${OCTOMAP_INCLUDE_DIRS}
# LIBRARIES marble_guidance
# CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs tf2_ros pcl_ros cv_bridge rough_octomap
DEPENDS OCTOMAP
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
${OCTOMAP_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
## Declare a C++ library
add_library(path_follower src/path_follower.cpp)
add_dependencies(path_follower ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(path_follower ${catkin_LIBRARIES} )
add_executable(path_follower_node src/path_follower_node.cpp)
target_link_libraries(path_follower_node path_follower ${catkin_LIBRARIES})
add_library(trajectory_follower src/trajectory_follower.cpp)
add_dependencies(trajectory_follower ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(trajectory_follower ${catkin_LIBRARIES} )
add_executable(trajectory_follower_node src/trajectory_follower_node.cpp)
target_link_libraries(trajectory_follower_node trajectory_follower ${catkin_LIBRARIES})
add_library(trajectory_generator_node src/trajectory_generator_node.cpp)
add_dependencies(trajectory_generator_node ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(trajectory_generator_node ${catkin_LIBRARIES} )
add_executable(trajectory_generator src/trajectory_generator.cpp)
target_link_libraries(trajectory_generator trajectory_generator_node ${catkin_LIBRARIES})
add_library(backup_detector src/backup_detector.cpp)
add_dependencies(backup_detector ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(backup_detector ${catkin_LIBRARIES} )
add_executable(backup_detector_node src/backup_detector_node.cpp)
add_dependencies(backup_detector_node ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(backup_detector_node backup_detector ${catkin_LIBRARIES})
add_library(motion_command_filter src/motion_command_filter.cpp)
add_dependencies(motion_command_filter ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(motion_command_filter ${catkin_LIBRARIES} )
add_executable(motion_command_filter_node src/motion_command_filter_node.cpp)
target_link_libraries(motion_command_filter_node motion_command_filter ${catkin_LIBRARIES})
add_library(husky_safety src/husky_safety.cpp)
add_dependencies(husky_safety ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(husky_safety ${catkin_LIBRARIES} ${OpenCV_LIBS})
add_executable(husky_safety_node src/husky_safety_node.cpp)
target_link_libraries(husky_safety_node husky_safety ${catkin_LIBRARIES} )
add_executable(tf2odom src/tf2odom.cpp)
target_link_libraries(tf2odom ${catkin_LIBRARIES})