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vesc/vesc_ackermann/CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3) | |
project(vesc_ackermann) | |
find_package(catkin REQUIRED COMPONENTS | |
nodelet | |
pluginlib | |
roscpp | |
nav_msgs | |
std_msgs | |
ackermann_msgs | |
vesc_msgs | |
) | |
catkin_package( | |
INCLUDE_DIRS include | |
CATKIN_DEPENDS nodelet pluginlib roscpp nav_msgs std_msgs ackermann_msgs vesc_msgs | |
) | |
########### | |
## Build ## | |
########### | |
include_directories( | |
include | |
${Boost_INCLUDE_DIR} | |
${catkin_INCLUDE_DIRS} | |
) | |
# node executable | |
add_executable(vesc_to_odom_node src/vesc_to_odom_node.cpp | |
src/vesc_to_odom.cpp) | |
target_link_libraries(vesc_to_odom_node | |
${catkin_LIBRARIES} | |
) | |
add_executable(ackermann_to_vesc_node src/ackermann_to_vesc_node.cpp | |
src/ackermann_to_vesc.cpp) | |
target_link_libraries(ackermann_to_vesc_node | |
${catkin_LIBRARIES} | |
) | |
# nodelet library | |
add_library(vesc_ackermann_nodelet src/ackermann_to_vesc_nodelet.cpp | |
src/ackermann_to_vesc.cpp | |
src/vesc_to_odom_nodelet.cpp | |
src/vesc_to_odom.cpp) | |
target_link_libraries(vesc_ackermann_nodelet | |
${catkin_LIBRARIES} | |
) | |
############# | |
## Install ## | |
############# | |
install(TARGETS vesc_to_odom_node ackermann_to_vesc_node | |
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} | |
) | |
install(TARGETS vesc_ackermann_nodelet | |
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} | |
) | |
install(DIRECTORY include/${PROJECT_NAME}/ | |
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}) | |
install(FILES vesc_ackermann_nodelet.xml | |
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) | |
install(DIRECTORY launch/ | |
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch) | |
############# | |
## Testing ## | |
############# | |
# TODO |