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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(mutable_transform_publisher)
add_compile_options(-std=c++11 -Wall -Wextra)
find_package(catkin REQUIRED COMPONENTS
message_generation
tf2
tf2_ros
)
find_package(yaml-cpp REQUIRED)
add_service_files(
FILES
SetTransform.srv
)
generate_messages(
DEPENDENCIES
geometry_msgs
)
catkin_package(
INCLUDE_DIRS
include
${YAML_CPP_INCLUDE_DIRS}
LIBRARIES
${PROJECT_NAME}
${PROJECT_NAME}_yaml
CATKIN_DEPENDS
tf2
tf2_ros
geometry_msgs
message_runtime
DEPENDS
YAML_CPP
)
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
${YAML_CPP_INCLUDE_DIRS}
)
# Core ROS capability
add_library(${PROJECT_NAME}
src/${PROJECT_NAME}/publisher.cpp
src/${PROJECT_NAME}/mutable_transform_publisher.cpp
)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
# Yaml Stuff
add_library(${PROJECT_NAME}_yaml
src/${PROJECT_NAME}/yaml_serialization.cpp
)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES})
# Primary Node
add_executable(${PROJECT_NAME}_node src/mutable_transform_publisher_node.cpp)
set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME mutable_transform_pub PREFIX "")
add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME} ${PROJECT_NAME}_yaml)
#############
## Install ##
#############
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_yaml ${PROJECT_NAME}_node
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
)