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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(robot_pose_ekf)
# bfl (Bayesian Filtering Library) is a third party package that uses pkg-config
find_package(PkgConfig)
pkg_check_modules(BFL REQUIRED orocos-bfl)
include_directories(${BFL_INCLUDE_DIRS})
link_directories(${BFL_LIBRARY_DIRS})
find_package(catkin REQUIRED
COMPONENTS
roscpp
tf
nav_msgs
std_msgs
geometry_msgs
sensor_msgs
message_generation
)
find_package(Boost REQUIRED COMPONENTS thread)
# services
add_service_files(
DIRECTORY srv
FILES
GetStatus.srv
)
generate_messages(
DEPENDENCIES
std_msgs
)
catkin_package(
CATKIN_DEPENDS
geometry_msgs
message_runtime
nav_msgs
roscpp
sensor_msgs
std_msgs
)
include_directories(
"include"
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
add_executable(robot_pose_ekf
src/odom_estimation.cpp
src/nonlinearanalyticconditionalgaussianodo.cpp
src/odom_estimation_node.cpp)
target_link_libraries(robot_pose_ekf
${catkin_LIBRARIES}
${Boost_LIBRARIES}
${BFL_LIBRARIES}
)
add_dependencies(robot_pose_ekf ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
install(
TARGETS
robot_pose_ekf
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(
FILES robot_pose_ekf.launch example_with_gps.launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(
PROGRAMS scripts/wtf.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Tests are failing on OSX for an unknown reason
include(CMakeDetermineSystem)
if(CMAKE_SYSTEM_NAME MATCHES "Linux")
if(CATKIN_ENABLE_TESTING)
catkin_download_test_data(
download_data_ekf_test2_indexed.bag
http://download.ros.org/data/robot_pose_ekf/ekf_test2_indexed.bag
DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
MD5 71addef0ed900e05b301e0b4fdca99e2
)
add_executable(test_robot_pose_ekf test/test_robot_pose_ekf.cpp)
target_link_libraries(test_robot_pose_ekf
${Boost_LIBRARIES}
${catkin_LIBRARIES}
${BFL_LIBRARIES}
gtest
)
add_dependencies(test_robot_pose_ekf ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
catkin_download_test_data(
download_data_zero_covariance.bag
http://download.ros.org/data/robot_pose_ekf/zero_covariance_indexed.bag
DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/test
MD5 1f1f4e361a9e0b0f6b1379b2dd011088
)
add_executable(test_robot_pose_ekf_zero_covariance test/test_robot_pose_ekf_zero_covariance.cpp)
target_link_libraries(test_robot_pose_ekf_zero_covariance
${Boost_LIBRARIES}
${catkin_LIBRARIES}
${BFL_LIBRARIES}
gtest
)
add_dependencies(test_robot_pose_ekf_zero_covariance ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
# This has to be done after we've already built targets, or catkin variables get borked
find_package(rostest REQUIRED)
add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_robot_pose_ekf.launch)
add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_robot_pose_ekf_zero_covariance.launch)
endif(CATKIN_ENABLE_TESTING)
endif(CMAKE_SYSTEM_NAME MATCHES "Linux")