CMakeLists.txt

cmake_minimum_required(VERSION 3.10)
project(hero_chassis_controller)

## Use C++14
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

## By adding -Wall and -Werror, the compiler does not ignore warnings anymore,
## enforcing cleaner code.
add_definitions(-Wall -Werror)

## Find catkin macros and libraries
find_package(catkin REQUIRED
        COMPONENTS
        roscpp
        rospy
        std_msgs
        pluginlib
        control_toolbox
        realtime_tools
        nav_msgs
        tf
        roslint
)

## Find system libraries
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
        INCLUDE_DIRS
        include
        LIBRARIES
        CATKIN_DEPENDS
        roscpp
        rospy
        controller_interface
        hardware_interface
        forward_command_controller
        pluginlib
        control_toolbox
        realtime_tools
        nav_msgs
        tf
        DEPENDS
)

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

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
        include
        ${catkin_INCLUDE_DIRS}
        # Set manually because Eigen sets a non standard INCLUDE DIR
)

## Declare cpp executables
add_library(${PROJECT_NAME}
        src/${PROJECT_NAME}.cpp
)

add_dependencies(${PROJECT_NAME}
        ${catkin_EXPORTED_TARGETS}
)

target_link_libraries(${PROJECT_NAME}
        ${catkin_LIBRARIES}
)

catkin_install_python(PROGRAMS
        scripts/teleop_twist_keyboard.py
        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

add_executable(teleop_twist_keyboard
        src/teleop_twist_keyboard.cpp
)

target_link_libraries(teleop_twist_keyboard
        ${catkin_LIBRARIES}
)

## Declare cpp executables
#add_executable(${PROJECT_NAME}
#    src/${PROJECT_NAME}_node.cpp
#        src/hero_chassis_controller.cpp
#    )
#target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_11)

## Add dependencies to exported targets, like ROS msgs or srvs
#add_dependencies(${PROJECT_NAME}_core
#    ${catkin_EXPORTED_TARGETS}
#    )
#
#add_dependencies(${PROJECT_NAME}
#    ${catkin_EXPORTED_TARGETS}
#    )


#############
## Install ##
#############

# Mark executables and/or libraries for installation
#install(
#    TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_core
#    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 "*.hpp"
#)
#
## Mark other files for installation
#install(
#    DIRECTORY doc
#    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
#)

#############
## Testing ##
#############

#if (${CATKIN_ENABLE_TESTING})
#  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
#  ## Add gtest based cpp test target and link libraries
#  catkin_add_gtest(${PROJECT_NAME}-test
#      test/test_ros_package_template.cpp
#      test/AlgorithmTest.cpp)
#  target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}_core)
#endif ()

##########################
## Static code analysis ##
##########################

roslint_cpp()