CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(docking)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++17)
set(PCL_INCLUDE_DIRS /usr/local/include/pcl-1.8)
# set(srcs
#     src/SegmentLine.cpp
# )
# set(incs
#     include/docking/SegmentLine.h
# )
# set(impl_incs
#     include/docking/SegmentLine.hpp
# )


## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  dynamic_reconfigure
  message_generation
  roscpp
  rospy
  pcl_conversions
  pcl_ros
  visualization_msgs
  tf_conversions
  nav_msgs
  actionlib_msgs
#  PCL 1.8 REQUIRED
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
 add_message_files(
   FILES
   Line.msg
   LineArray.msg
   Cluster.msg
   ClusterArray.msg
   BoundingBox.msg
   Dock.msg
   MinMaxPoint.msg
   ICP.msg
   LineOfSight.msg
   Plan.msg
#   Message2.msg
 )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
add_action_files(
  DIRECTORY action
  FILES Docking.action
)

## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
   std_msgs  # Or other packages containing msgs
   geometry_msgs
   pcl_msgs
   sensor_msgs
   visualization_msgs
   nav_msgs
   actionlib_msgs
 )

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
 generate_dynamic_reconfigure_options(
    cfg/DetectionNode.cfg
    cfg/PoseController.cfg
    cfg/PlannerNode.cfg
    cfg/ControllerNode.cfg
#   cfg/DynReconf2.cfg
 )

###################################
## 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 docking
 CATKIN_DEPENDS dynamic_reconfigure
                roscpp
                rospy
                pcl_conversions
                pcl_ros
                message_runtime
                actionlib_msgs
#  DEPENDS system_lib
)

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

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
#  include/docking
  ${catkin_INCLUDE_DIRS}
  # ${PCL_INCLUDE_DIRS}
)

# Declare a C++ library
# add_library(
#   ${PROJECT_NAME}
##   include/docking/SegmentLineNode.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure

# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
  add_dependencies( ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(detection_node src/detection_node.cpp)
add_executable(planner_node src/planner_node.cpp)
add_executable(controller_node src/controller_node.cpp)
# add_executable(${PROJECT_NAME} src/line_detection.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(
	detection_node
  planner_node
  controller_node
	${detection_node_EXPORTED_TARGETS}
	${catkin_EXPORTED_TARGETS}
)



add_dependencies(detection_node ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(planner_node ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(controller_node ${PROJECT_NAME}_gencfg ${PROJECT_NAME}_generate_messages_cpp)

## Specify libraries to link a library or executable target against
target_link_libraries(detection_node  ${catkin_LIBRARIES})
target_link_libraries(planner_node  ${catkin_LIBRARIES})
target_link_libraries(controller_node  ${catkin_LIBRARIES})
#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

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

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_docking.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)