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Copy pathCMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(pr2maid)
add_compile_options(-std=c++11)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
cv_bridge
image_transport
std_msgs
sensor_msgs
geometry_msgs
move_base_msgs
actionlib
tf
message_generation
visualization_msgs
OpenCV
Eigen3
moveit_core
moveit_visual_tools
moveit_ros_planning_interface
)
add_message_files(
FILES
LineSegment.msg
LineSegmentList.msg
)
generate_messages(
DEPENDENCIES
sensor_msgs
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES line line_extraction line_extraction_ros
CATKIN_DEPENDS
roscpp
rospy
std_msgs
rostest
geometry_msgs
move_base_msgs
message_runtime
sensor_msgs
visualization_msgs
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
add_executable(${PROJECT_NAME} src/PR2Maid.cpp
src/LegoBrick.cpp
src/BrickList.cpp
src/DropBin.cpp
src/GlobalPlanner.cpp
src/LocalPlanner.cpp
)
add_executable(${PROJECT_NAME}_MoveitPlanner src/MoveitPlanner.cpp)
target_link_libraries(${PROJECT_NAME}_MoveitPlanner ${catkin_LIBRARIES})
add_executable(${PROJECT_NAME}_blob_node src/BlobDetector.cpp)
target_link_libraries(${PROJECT_NAME}_blob_node ${catkin_LIBRARIES})
add_library(${PROJECT_NAME}_line src/LaserLineExtractor/line.cpp)
target_link_libraries(${PROJECT_NAME}_line ${catkin_LIBRARIES})
add_library(${PROJECT_NAME}_line_extraction src/LaserLineExtractor/line_extraction.cpp)
target_link_libraries(${PROJECT_NAME}_line_extraction ${catkin_LIBRARIES})
add_library(${PROJECT_NAME}_line_extraction_ros src/LaserLineExtractor/line_extraction_ros.cpp)
target_link_libraries(${PROJECT_NAME}_line_extraction_ros line line_extraction ${catkin_LIBRARIES})
add_dependencies(${PROJECT_NAME}_line_extraction_ros laser_line_extraction_generate_messages_cpp)
add_executable(${PROJECT_NAME}_line_extraction_node src/LaserLineExtractor/line_extraction_node.cpp)
target_link_libraries(${PROJECT_NAME}_line_extraction_node ${PROJECT_NAME}_line_extraction_ros ${catkin_LIBRARIES})
include_directories(include ${catkin_INCLUDE_DIRS})
include_directories(include ${EIGEN3_INCLUDE_DIRS})
#add_executable(global_planner src/GlobalPlanner.cpp)
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
)
if(CATKIN_ENABLE_TESTING)
find_package(rostest REQUIRED)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O0 --coverage")
add_rostest_gtest(allTests test/PR2Maid.test
test/test_main.cpp
test/test_LegoBrick.cpp
test/test_DropBin.cpp
test/test_BrickList.cpp
test/test_GlobalPlanner.cpp
src/LegoBrick.cpp
src/Utils.cpp
src/DropBin.cpp
src/BrickList.cpp
src/GlobalPlanner.cpp)
target_link_libraries(allTests ${OpenCV_LIBS} ${catkin_LIBRARIES} )
endif()