mirror of
https://github.com/6-robot/wpb_home.git
synced 2025-09-15 12:58:59 +08:00
262 lines
8.1 KiB
CMake
262 lines
8.1 KiB
CMake
cmake_minimum_required(VERSION 2.8.3)
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project(wpb_home_bringup)
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find_package(catkin REQUIRED COMPONENTS roslaunch roscpp std_msgs tf genmsg joy sensor_msgs)
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include_directories(
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include ${catkin_INCLUDE_DIRS}
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)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a waterplus build_depend tag for "message_generation"
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a 6-robot run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs # Or other packages containing msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES wpb_home_bringup
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# CATKIN_DEPENDS other_catkin_pkg
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include)
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## Declare a C++ library
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# add_library(wpb_home
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# src/${PROJECT_NAME}/wpb_home.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(wpb_home ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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# add_executable(wpb_home_node src/wpb_home_node.cpp)
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## Add cmake target dependencies of the executable
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## same as for the library above
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# add_dependencies(wpb_home_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Specify libraries to link a library or executable target against
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# target_link_libraries(wpb_home_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables and/or libraries for installation
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# install(TARGETS wpb_home wpb_home_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_wpb_home.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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## Declare a C++ executable
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add_executable(wpb_home_core
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src/wpb_home_core.cpp
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src/driver/SerialCom.cpp
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src/driver/WPB_Home_driver.cpp
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)
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add_dependencies(wpb_home_core ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(wpb_home_core
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${catkin_LIBRARIES}
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)
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## Declare a C++ executable
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## Declare a C++ executable
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add_executable(wpb_home_js_vel
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src/wpb_home_js_vel.cpp
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)
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add_dependencies(wpb_home_js_vel ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(wpb_home_js_vel
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${catkin_LIBRARIES}
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)
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## Declare a C++ executable
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add_executable(wpb_home_test_motors
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src/wpb_home_test_motors.cpp
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src/driver/SerialCom.cpp
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src/driver/WPB_Home_driver.cpp
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)
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add_dependencies(wpb_home_test_motors ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(wpb_home_test_motors
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${catkin_LIBRARIES}
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)
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## Declare a C++ executable
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add_executable(wpb_home_motor_encoder
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src/wpb_home_motor_encoder.cpp
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src/driver/SerialCom.cpp
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src/driver/WPB_Home_driver.cpp
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)
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add_dependencies(wpb_home_motor_encoder ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(wpb_home_motor_encoder
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${catkin_LIBRARIES}
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)
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## Declare a C++ executable
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add_executable(wpb_home_lidar_filter
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src/wpb_home_lidar_filter.cpp
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)
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add_dependencies(wpb_home_lidar_filter ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(wpb_home_lidar_filter
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${catkin_LIBRARIES}
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)
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## Declare a C++ executable
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add_executable(wpb_home_imu_tf
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src/wpb_home_imu_tf.cpp
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)
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add_dependencies(wpb_home_imu_tf ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(wpb_home_imu_tf
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${catkin_LIBRARIES}
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)
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## Declare a C++ executable
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add_executable(wpb_home_test_mani
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src/wpb_home_test_mani.cpp
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src/driver/SerialCom.cpp
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src/driver/WPB_Home_driver.cpp
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)
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add_dependencies(wpb_home_test_mani ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(wpb_home_test_mani
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${catkin_LIBRARIES}
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)
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## Declare a C++ executable
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add_executable(wpb_home_calibrate_velocity
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src/wpb_home_calibrate_velocity.cpp
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)
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add_dependencies(wpb_home_calibrate_velocity ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(wpb_home_calibrate_velocity
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${catkin_LIBRARIES}
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)
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