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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(fetch_open_auto_dock)
if (CMAKE_COMPILER_IS_GNUCC OR CMAKE_COMPILER_IS_GNUCXX)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
endif()
find_package(catkin REQUIRED
COMPONENTS
actionlib
actionlib_msgs
angles
geometry_msgs
nav_msgs
message_generation
roslib
roscpp
rospy
std_msgs
sensor_msgs
tf
tf2
)
find_package(Eigen3 REQUIRED)
add_action_files(
FILES
Dock.action
Undock.action
)
generate_messages(
DEPENDENCIES
actionlib_msgs
geometry_msgs
)
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS
actionlib
actionlib_msgs
geometry_msgs
message_runtime
nav_msgs
roslib
roscpp
rospy
sensor_msgs
std_msgs
tf
tf2
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
)
add_executable(auto_dock
src/auto_dock.cpp
src/controller.cpp
src/icp_2d.cpp
src/laser_processor.cpp
src/perception.cpp
src/linear_pose_filter_2d.cpp
)
add_executable(master_dock_controller src/master_dock_controller.cpp)
add_executable(init_dock_estimate
src/init_dock_estimate.cpp
src/icp_2d.cpp
src/laser_processor.cpp
src/perception.cpp
src/linear_pose_filter_2d.cpp
)
target_link_libraries(auto_dock
${catkin_LIBRARIES}
)
target_link_libraries(master_dock_controller
${catkin_LIBRARIES}
)
target_link_libraries(init_dock_estimate
${catkin_LIBRARIES}
)
add_dependencies(auto_dock
${catkin_EXPORTED_TARGETS}
${fetch_open_auto_dock_EXPORTED_TARGETS}
)
add_dependencies(master_dock_controller
${catkin_EXPORTED_TARGETS}
${fetch_open_auto_dock_EXPORTED_TARGETS}
)
add_dependencies(init_dock_estimate
${catkin_EXPORTED_TARGETS}
${fetch_open_auto_dock_EXPORTED_TARGETS}
)
if (CATKIN_ENABLE_TESTING)
add_subdirectory(test)
endif()
install(TARGETS auto_dock
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
install(
DIRECTORY launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(
PROGRAMS
scripts/dock_on_button.py
scripts/dock_robot.py
scripts/undock_on_button.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)