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Build without ROS #10

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Build without ROS #10

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38a71da
Catkin build is optional now
nmerrill67 Mar 29, 2020
a0c65e8
Fix message
nmerrill67 Mar 29, 2020
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74 changes: 38 additions & 36 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,52 +1,54 @@
cmake_minimum_required(VERSION 2.8.3)
project(laser_line_extraction)

find_package(catkin REQUIRED COMPONENTS
cmake_modules
geometry_msgs
message_generation
roscpp
rospy
sensor_msgs
visualization_msgs
)
find_package(catkin QUIET COMPONENTS cmake_modules geometry_msgs
message_generation roscpp rospy sensor_msgs visualization_msgs)

find_package(Eigen3 REQUIRED)

add_message_files(
FILES
LineSegment.msg
LineSegmentList.msg
)
if (catkin_FOUND)
message(STATUS "Catkin found. Compiling ROS components.")
add_message_files(
FILES
LineSegment.msg
LineSegmentList.msg
)

generate_messages(
DEPENDENCIES
sensor_msgs
)

catkin_package(
INCLUDE_DIRS include
LIBRARIES line line_extraction line_extraction_ros
CATKIN_DEPENDS geometry_msgs message_runtime roscpp sensor_msgs visualization_msgs
)
else()
message(STATUS "Catkin NOT found. Ommitting ROS components.")
endif()

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")

generate_messages(
DEPENDENCIES
sensor_msgs
)

catkin_package(
INCLUDE_DIRS include
LIBRARIES line line_extraction line_extraction_ros
CATKIN_DEPENDS geometry_msgs message_runtime roscpp sensor_msgs visualization_msgs
)
include_directories(include ${EIGEN3_INCLUDE_DIRS})

add_library(line src/line.cpp)
target_link_libraries(line ${catkin_LIBRARIES})

add_library(line_extraction src/line_extraction.cpp)
target_link_libraries(line_extraction ${catkin_LIBRARIES})

add_library(line_extraction_ros src/line_extraction_ros.cpp)
target_link_libraries(line_extraction_ros line line_extraction ${catkin_LIBRARIES})
add_dependencies(line_extraction_ros laser_line_extraction_generate_messages_cpp)

add_executable(line_extraction_node src/line_extraction_node.cpp)
target_link_libraries(line_extraction_node line_extraction_ros ${catkin_LIBRARIES})

include_directories(include ${catkin_INCLUDE_DIRS})
include_directories(include ${EIGEN3_INCLUDE_DIRS})
if (catkin_FOUND)
include_directories(include ${catkin_INCLUDE_DIRS})

# catkin_add_gtest(${PROJECT_NAME}-test test/test_laser_line_extraction.cpp)
add_library(line_extraction_ros src/line_extraction_ros.cpp)
target_link_libraries(line_extraction_ros line line_extraction ${catkin_LIBRARIES})
add_dependencies(line_extraction_ros laser_line_extraction_generate_messages_cpp)

install(TARGETS line_extraction_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(TARGETS line_extraction_ros line_extraction line ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
add_executable(line_extraction_node src/line_extraction_node.cpp)
target_link_libraries(line_extraction_node line_extraction_ros ${catkin_LIBRARIES})

#catkin_add_gtest(${PROJECT_NAME}-test test/test_laser_line_extraction.cpp)
install(TARGETS line_extraction_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(TARGETS line_extraction_ros line_extraction line ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
endif()