CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(swarm_robots)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  std_msgs
  tf
  geometry_msgs
)

find_package(Boost REQUIRED COMPONENTS system)


add_service_files(DIRECTORY srv
FILES
service.srv
)

add_action_files(
  DIRECTORY action
  FILES swarmACT.action
)

generate_messages(DEPENDENCIES 
  std_msgs 
  actionlib_msgs
)

## System dependencies are found with CMake's conventions
find_package(ompl REQUIRED)
find_package(octomap REQUIRED)
find_package(Eigen3 REQUIRED)


catkin_package(
#   INCLUDE_DIRS include
#  LIBRARIES swarm_robots
#  CATKIN_DEPENDS roscpp std_msgs
  DEPENDS 
  actionlib
  actionlib_msgs
)

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

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${OCTOMAP_INCLUDE_DIRS}
  ${OMPL_INCLUDE_DIRS}
  
)

add_executable(${PROJECT_NAME}_node 
src/swarm_master.cpp 
src/agent_node.cpp 
src/agent.cpp 
src/forward_kinematics.cpp 
src/inverse_kinematics.cpp 
src/path_planner.cpp 
src/safety_check.cpp 
src/state.cpp 
src/obstacle.cpp 
src/arena.cpp
)

## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}_node
   ${catkin_LIBRARIES}
 )


 add_executable(${PROJECT_NAME}_action_client_node 
 src/action_client.cpp
 )
target_link_libraries(${PROJECT_NAME}_action_client_node ${catkin_LIBRARIES})


 add_executable(${PROJECT_NAME}_action_server_node 
 src/action_server.cpp
 )
target_link_libraries(${PROJECT_NAME}_action_server_node ${catkin_LIBRARIES})



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

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/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
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_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(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

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

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_swarm_robots.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)


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

if(CATKIN_ENABLE_TESTING)
  find_package(rostest REQUIRED)

  add_rostest_gtest(
  TestSwarm
  test/test.launch
  test/main.cpp
  test/testswarm.cpp
  src/agent_node.cpp 
  src/agent.cpp 
  src/forward_kinematics.cpp 
  src/inverse_kinematics.cpp 
  src/path_planner.cpp 
  src/safety_check.cpp 
  src/state.cpp 
  src/obstacle.cpp 
  src/arena.cpp
  )
  target_link_libraries(
  TestSwarm
  ${catkin_LIBRARIES}
  )
  add_dependencies(
  TestSwarm
  ##${PROJECT_NAME}_swarm_test_cpp
  ${catkin_EXPORTED_TARGETS}
  )
endif()