-
Notifications
You must be signed in to change notification settings - Fork 123
/
CMakeLists.txt
104 lines (91 loc) · 2.55 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
cmake_minimum_required(VERSION 2.8.3)
project(free_gait_ros)
set(CMAKE_CXX_FLAGS "-std=c++11 ${CMAKE_CXX_FLAGS}")
## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
free_gait_msgs
free_gait_core
curves_ros
grid_map_core
grid_map_ros
pluginlib
robot_state_publisher
kdl_parser
)
## System dependencies are found with CMake's conventions
find_package(Eigen3 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 you 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
${EIGEN3_INCLUDE_DIR}
LIBRARIES
${PROJECT_NAME}
CATKIN_DEPENDS
free_gait_msgs
free_gait_core
curves_ros
grid_map_core
grid_map_ros
pluginlib
robot_state_publisher
kdl_parser
)
# Attempt to find catkinized kindr
find_package(kindr QUIET)
if(NOT kindr_FOUND)
# Attempt to find package-based kindr
find_package(PkgConfig REQUIRED)
pkg_check_modules(kindr kindr REQUIRED)
endif()
###########
## Build ##
###########
## Specify additional locations of header files
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
)
## Declare a cpp library
add_library(${PROJECT_NAME}
src/StepRosConverter.cpp
src/StepFrameConverter.cpp
src/FreeGaitActionServer.cpp
src/FreeGaitActionClient.cpp
src/AdapterRos.cpp
src/AdapterRosInterfaceBase.cpp
src/StateRosPublisher.cpp
src/RosVisualization.cpp
)
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
)
#############
## Testing ##
#############
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
## Add gtest based cpp test target and link libraries
catkin_add_gtest(${PROJECT_NAME}-test
test/test_free_gait_ros.cpp
# test/StepTest.cpp
)
if(TARGET ${PROJECT_NAME}-test)
target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
endif()
install(TARGETS ${PROJECT_NAME}
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)