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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.4)
project(rovi_planner)
# C++17
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
# find catkin and any catkin packages
find_package(
catkin REQUIRED
COMPONENTS
roscpp
roslib
ros_utils
kdl_parser
kdl_conversions
eigen_conversions
geometry_msgs
sensor_msgs
)
# Finding Eigen is somewhat complicated because of our need to support Ubuntu
# all the way back to saucy. First we look for the Eigen3 cmake module
# provided by the libeigen3-dev on newer Ubuntu. If that fails, then we
# fall-back to the version provided by cmake_modules, which is a stand-in.
find_package(Eigen3 QUIET)
if(NOT EIGEN3_FOUND)
find_package(cmake_modules REQUIRED)
find_package(Eigen REQUIRED)
set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
endif()
# Note that eigen 3.2 (on Ubuntu Wily) only provides EIGEN3_INCLUDE_DIR,
# not EIGEN3_INCLUDE_DIRS, so we have to set the latter from the former.
if(NOT EIGEN3_INCLUDE_DIRS)
set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
endif()
# declare a catkin package
catkin_package(
INCLUDE_DIRS
include
${EIGEN3_INCLUDE_DIR}
LIBRARIES
rovi_planner
CATKIN_DEPENDS
roscpp
roslib
ros_utils
kdl_parser
kdl_conversions
eigen_conversions
geometry_msgs
sensor_msgs
DEPENDS
EIGEN3
)
# include directories
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
################################################################################################
# libraries
# REMEMBER TO ADD TO INSTALL TARGETS (bottom of file) !!!
## rovi_planner
add_library(rovi_planner src/lib_rovi_planner.cpp)
target_link_libraries(rovi_planner ${catkin_LIBRARIES})
################################################################################################
# nodes
add_executable(demo_rovi_planner examples/demo_rovi_planner.cpp)
target_link_libraries(demo_rovi_planner ${catkin_LIBRARIES} rovi_planner)
# ...
################################################################################################
# install targets
## executables and/or libraries for installation
install(
TARGETS
rovi_planner
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
## install header files
install(
DIRECTORY
include/rovi_planner/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)