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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(laser_assembler)
##############################################################################
# Find dependencies
##############################################################################
set(THIS_PACKAGE_ROS_DEPS
cv_bridge
filters
laser_geometry
message_filters
message_generation
message_runtime
roscpp
sensor_msgs
std_msgs
tf
)
find_package(catkin REQUIRED COMPONENTS
${THIS_PACKAGE_ROS_DEPS})
find_package(Boost REQUIRED COMPONENTS system)
include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
##############################################################################
# Build service definitions
##############################################################################
add_service_files(FILES
AssembleScans.srv
AssembleScans2.srv
StartCollection.srv
StopCollectionAndAssembleScans2.srv
)
generate_messages(DEPENDENCIES sensor_msgs std_msgs)
##############################################################################
# Define package
##############################################################################
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS ${THIS_PACKAGE_ROS_DEPS}
DEPENDS
)
##############################################################################
# Build
##############################################################################
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
add_executable(laser_scan_assembler_srv src/laser_scan_assembler_srv.cpp)
target_link_libraries(laser_scan_assembler_srv ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(laser_scan_assembler_srv ${PROJECT_NAME}_gencpp)
add_executable(laser_scan_assembler src/laser_scan_assembler.cpp)
target_link_libraries(laser_scan_assembler ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(laser_scan_assembler ${PROJECT_NAME}_gencpp)
add_executable(merge_clouds src/merge_clouds.cpp)
target_link_libraries(merge_clouds ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(merge_clouds ${PROJECT_NAME}_gencpp)
add_executable(point_cloud_assembler_srv src/point_cloud_assembler_srv.cpp)
target_link_libraries(point_cloud_assembler_srv ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(point_cloud_assembler_srv ${PROJECT_NAME}_gencpp)
add_executable(point_cloud_assembler src/point_cloud_assembler.cpp)
target_link_libraries(point_cloud_assembler ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(point_cloud_assembler ${PROJECT_NAME}_gencpp)
add_executable(point_cloud2_assembler src/point_cloud2_assembler.cpp)
target_link_libraries(point_cloud2_assembler ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(point_cloud2_assembler ${PROJECT_NAME}_gencpp)
## unit testing
if(CATKIN_ENABLE_TESTING)
find_package(rostest REQUIRED)
add_executable(dummy_scan_producer test/dummy_scan_producer.cpp)
target_link_libraries(dummy_scan_producer ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(dummy_scan_producer ${PROJECT_NAME}_gencpp)
add_executable(periodic_snapshotter examples/periodic_snapshotter.cpp)
target_link_libraries(periodic_snapshotter ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(periodic_snapshotter ${PROJECT_NAME}_gencpp)
add_executable(test_assembler test/test_assembler.cpp)
target_link_libraries(test_assembler ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${GTEST_LIBRARIES})
add_dependencies(test_assembler ${PROJECT_NAME}_gencpp)
add_rostest(test/test_${PROJECT_NAME}.launch)
endif()
##############################################################################
# Install
##############################################################################
install(TARGETS
laser_scan_assembler
laser_scan_assembler_srv
merge_clouds
point_cloud_assembler
point_cloud_assembler_srv
point_cloud2_assembler
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# Install headers
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})