CMakeLists.txt

# Use this version to avoid the CPM0048 Warning according to:
# https://answers.ros.org/question/361001/how-to-fix-unstable-build-on-buildfarm-for-noetic-because-of-cmp0048/
cmake_minimum_required(VERSION 3.0.2)
project(mobile_robot_perception)

## 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
  roscpp
  sensor_msgs
  rosunit
)


catkin_package(
 INCLUDE_DIRS include
 LIBRARIES mobile_robot_perception
 CATKIN_DEPENDS roscpp sensor_msgs 
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

add_library(scan_sector_measurement src/scan_sector_measurement.cpp)
target_link_libraries(scan_sector_measurement ${catkin_LIBRARIES})

add_library(laser_scan_processor src/laser_scan_processor.cpp)
target_link_libraries(laser_scan_processor ${catkin_LIBRARIES} scan_sector_measurement) 

add_executable(scan_processor_node src/scan_processor_node_test.cpp)
target_link_libraries(scan_processor_node ${catkin_LIBRARIES} scan_sector_measurement laser_scan_processor) 

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS scan_sector_measurement laser_scan_processor
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)

## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
  PATTERN "*~" EXCLUDE
)

if(CATKIN_ENABLE_TESTING)
  catkin_add_gtest(test_scan_sector_measurements tests/test_scan_sector_measurements.cpp)
  target_link_libraries(test_scan_sector_measurements ${catkin_LIBRARIES} scan_sector_measurement)

  catkin_add_gtest(test_laser_scan_processor tests/test_laser_scan_processor.cpp)
  target_link_libraries(test_laser_scan_processor ${catkin_LIBRARIES} laser_scan_processor)
endif()

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/diffbot_control.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(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/diffbot_control_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_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 for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## 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(${PROJECT_NAME}-test test/test_diffbot_control.cpp)
# if(CATKIN_ENABLE_TESTING)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)