CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(ackermann_pid_pursuit)

add_compile_options(-std=c++17)
find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  dynamic_reconfigure
  nav_msgs
  roscpp
  rospy
  tf2
  tf2_ros
)

generate_dynamic_reconfigure_options(
  cfg/angle_pid.cfg
)

catkin_package(
 INCLUDE_DIRS include
 LIBRARIES ackermann_pid_pursuit
 CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy sensor_msgs dynamic_reconfigure
)
include_directories(${CMAKE_INSTALL_PREFIX}/include
  ${catkin_INCLUDE_DIRS}
  include
)

add_executable(${PROJECT_NAME} 
src/ackermann_pid_pursuit.cpp 
src/judge_direction.cpp 
src/pid_lib.cpp
src/utilities.cpp
) # Removed the duplicate call to add_executable() here.

add_dependencies(ackermann_pid_pursuit ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencfg)

target_link_libraries(${PROJECT_NAME} 
${catkin_LIBRARIES}
 glog
 ) # Moved this line here after adding the missing target linking library.
install(TARGETS ${PROJECT_NAME} 
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 # Removed the duplicate install() call here. Installation should be done only once for all targets. Also moved this line here.
install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} FILES_MATCHING PATTERN "*.hpp") # Removed the duplicate install() call here. Installation should be done only once for all targets. Also moved this line here.