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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(moveit_visual_tools)
# Load catkin and all dependencies required for this package
find_package(catkin REQUIRED COMPONENTS
rviz_visual_tools
tf2_eigen
geometry_msgs
moveit_ros_planning
moveit_core
roscpp
tf2_ros
visualization_msgs
graph_msgs
std_msgs
trajectory_msgs
cmake_modules
roslint
)
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED system)
# Catkin
catkin_package(
LIBRARIES
${PROJECT_NAME}
CATKIN_DEPENDS
roscpp
rviz_visual_tools
moveit_ros_planning
moveit_core
geometry_msgs
visualization_msgs
graph_msgs
std_msgs
trajectory_msgs
INCLUDE_DIRS include
)
## Build
include_directories(include)
include_directories(SYSTEM
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
# Visualization Tools Library
add_library(${PROJECT_NAME}
src/${PROJECT_NAME}.cpp
src/imarker_robot_state.cpp
src/imarker_end_effector.cpp
)
target_compile_options(${PROJECT_NAME} PRIVATE
-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls)
set_target_properties(${PROJECT_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
add_dependencies(${PROJECT_NAME} graph_msgs_generate_messages_cpp)
target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES} ${Boost_LIBRARIES}
)
# Demo executable
add_executable(${PROJECT_NAME}_demo src/${PROJECT_NAME}_demo.cpp)
target_compile_options(${PROJECT_NAME}_demo PRIVATE
-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls)
target_link_libraries(${PROJECT_NAME}_demo
${catkin_LIBRARIES} ${PROJECT_NAME}
)
#############
## Testing ##
#############
## Test for correct C++ source code
roslint_cpp()
#############
## Install ##
#############
# Install libraries
install(TARGETS ${PROJECT_NAME}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
# Install header files
install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
# Install shared resources
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY resources DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
# Install executables
install(TARGETS ${PROJECT_NAME}_demo
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)