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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(tf_keyboard_cal)
# C++ 11
set(CMAKE_CXX_FLAGS "-std=c++11 -Wall ${CMAKE_CXX_FLAGS}")
find_package(catkin REQUIRED COMPONENTS
keyboard
roscpp
tf2
tf
roslib
roslint
cmake_modules
rosparam_shortcuts
rviz_visual_tools
tf_conversions
interactive_markers
)
find_package(Eigen REQUIRED)
find_package(Boost REQUIRED)
catkin_package(
INCLUDE_DIRS
include
LIBRARIES
${PROJECT_NAME}_manual_tf_alignment
${PROJECT_NAME}_imarker_simple
CATKIN_DEPENDS
keyboard roscpp
tf2
tf
rosparam_shortcuts
interactive_markers
DEPENDS
Eigen
)
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIR}
${EIGEN_INCLUDE_DIRS}
)
# Library
add_library(${PROJECT_NAME}_manual_tf_alignment
src/manual_tf_alignment.cpp
)
target_link_libraries(${PROJECT_NAME}_manual_tf_alignment
${catkin_LIBRARIES}
${Boost_LIBRARIES}
)
# Library
add_library(${PROJECT_NAME}_imarker_simple
src/imarker_simple.cpp
)
target_link_libraries(${PROJECT_NAME}_imarker_simple
${catkin_LIBRARIES}
${Boost_LIBRARIES}
)
# Executable
add_executable(${PROJECT_NAME}
src/tf_keyboard.cpp
)
target_link_libraries(${PROJECT_NAME}
${PROJECT_NAME}_manual_tf_alignment
${catkin_LIBRARIES}
)
# Executable
add_executable(${PROJECT_NAME}_demo_tf_listener
src/demo_tf_listener.cpp
)
# Rename C++ executable without namespace
set_target_properties(${PROJECT_NAME}_demo_tf_listener
PROPERTIES OUTPUT_NAME demo_tf_listener PREFIX "")
# Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_demo_tf_listener
${catkin_LIBRARIES}
)
#############
## Testing ##
#############
## Test for correct C++ source code
roslint_cpp()
#############
## Install ##
#############
# Install libraries
install(TARGETS ${PROJECT_NAME}_manual_tf_alignment ${PROJECT_NAME}_imarker_simple
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
# Install header files
install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
# Install executables
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_demo_tf_listener
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# Install scripts
install(PROGRAMS
scripts/tf_interactive_marker.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# Install launch files
install(DIRECTORY
launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)