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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(genmos_object_search_ros)
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
genmsg
actionlib_msgs
message_filters
pcl_ros
pcl_conversions)
catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
add_message_files(
DIRECTORY msg
FILES
KeyValAction.msg
KeyValObservation.msg)
# Adding the action file for PlanAction
add_action_files(
DIRECTORY action
FILES PlanNextStep.action)
# generate_messages must be called AFTER catkin_python_setup
generate_messages(
DEPENDENCIES
std_msgs
actionlib_msgs)
###################################
## catkin specific configuration ##
###################################
catkin_package(
CATKIN_DEPENDS actionlib_msgs)
############ Executables (Python) ##############
include_directories(
${catkin_INCLUDE_DIRS})
############ Executables (C++) ##############
# ~~~~~~~~~~ Setting up dependencies ~~~~~~ #
# Make Python headers available
find_package(PythonLibs ${PYTHON_MIN_VERSION} REQUIRED)
include_directories(${PYTHON_INCLUDE_DIRS})
# Boost
set(Boost_USE_STATIC_LIBS OFF)
set(Boost_USE_MULTITHREADED ON)
set(Boost_USE_STATIC_RUNTIME OFF)
set(Boost_MIN_VERSION 1.71)
find_package(Boost ${Boost_MIN_VERSION} REQUIRED)
set(Boost_LIBRARIES_USED
boost_numpy
boost_python)
# PCL
set(PCL_MIN_VERSION 1.10)
find_package(PCL ${PCL_MIN_VERSION} REQUIRED)
include_directories(${PCL_INCLUDE_DIRS})
message(STATUS "PCL_LIBRARIES: ${PCL_LIBRARIES}")
# roscpp and std_msgs and sensor_msgs
find_package(roscpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
include_directories(${roscpp_INCLUDE_DIRS})
include_directories(${std_msgs_INCLUDE_DIRS})
include_directories(${sensor_msgs_INCLUDE_DIRS})
################ Building our libraries and executables ###################
add_library(math_utils
include/genmos_ros/utils/math_utils.cpp)
target_include_directories(math_utils
PUBLIC
include/genmos_ros/)
add_executable(local_cloud_publisher
src/genmos_ros/processing/local_cloud_publisher.cpp)
target_include_directories(local_cloud_publisher
PUBLIC
include/genmos_ros/processing
include/genmos_ros/)
target_link_libraries(local_cloud_publisher
${catkin_LIBRARIES})
add_executable(point_cloud_merger
src/genmos_ros/processing/point_cloud_merger.cpp)
target_include_directories(point_cloud_merger
PUBLIC
include/genmos_ros/processing
include/genmos_ros/)
target_link_libraries(point_cloud_merger
${catkin_LIBRARIES}
yaml-cpp)
add_executable(occupancy_to_cloud
src/genmos_ros/processing/occupancy_to_cloud.cpp)
target_include_directories(occupancy_to_cloud
PUBLIC
include/genmos_ros/processing
include/genmos_ros/)
target_link_libraries(occupancy_to_cloud
${catkin_LIBRARIES})