CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(ira_laser_tools)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS laser_geometry roscpp sensor_msgs std_msgs tf dynamic_reconfigure pcl_ros)

#find_package(Eigen3 REQUIRED)


if(NOT EIGEN3_FOUND)
    # Fallback to cmake_modules
    find_package(cmake_modules REQUIRED)
    find_package(Eigen REQUIRED)
    set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
    set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})  # Not strictly necessary as Eigen is head only
    # Possibly map additional variables to the EIGEN3_ prefix.
else()
    set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
endif()


find_package(PCL REQUIRED)

generate_dynamic_reconfigure_options(cfg/laserscan_multi_merger.cfg cfg/laserscan_virtualizer.cfg)


## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/groovy/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

#######################################
## Declare ROS messages and services ##
#######################################

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate added messages and services with any dependencies listed here
# generate_messages(
#   DEPENDENCIES
#   sensor_msgs#   std_msgs
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
   INCLUDE_DIRS
#  LIBRARIES laser_merger
#  CATKIN_DEPENDS laser_geometry roscpp sensor_msgs std_msgs tf
   DEPENDS Eigen
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include
  ${catkin_INCLUDE_DIRS}
  ${Eigen_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
  )
#add_definitions(${EIGEN_DEFINITIONS})

## Declare a cpp library
# add_library(laser_merger
#   src/${PROJECT_NAME}/laser_merger.cpp
# )

## Declare a cpp executable
#add_executable(laser_merger_node src/laser_merger_node.cpp)
#target_link_libraries(laser_merger_node ${catkin_LIBRARIES})

add_executable(laserscan_multi_merger src/laserscan_multi_merger.cpp)
target_link_libraries(laserscan_multi_merger ${catkin_LIBRARIES} ${PCL_LIBRARIES})

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
add_dependencies(laserscan_multi_merger ${PROJECT_NAME}_gencfg)

add_executable(laserscan_virtualizer src/laserscan_virtualizer.cpp)
target_link_libraries(laserscan_virtualizer ${catkin_LIBRARIES} ${PCL_LIBRARIES})

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
add_dependencies(laserscan_virtualizer ${PROJECT_NAME}_gencfg)

## Specify libraries to link a library or executable target against


#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/groovy/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
install(TARGETS laserscan_multi_merger laserscan_virtualizer
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_laser_merger.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)