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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5.1)
project(ximea_ros_cam)
set(CMAKE_CXX_STANDARD 17)
## Set ximea environment variables
set(XIMEA_INCLUDE_PATH /usr/include)
set(XIMEA_LIBRARY m3api)
## Find catkin macros and libraries
set(catkin_deps
roscpp
roslib
nodelet
sensor_msgs
image_transport
camera_info_manager
std_msgs
message_generation
diagnostic_updater
)
find_package(catkin REQUIRED COMPONENTS ${catkin_deps})
find_package(OpenCV REQUIRED)
find_package(Boost REQUIRED)
add_definitions(-DBOOST_BIND_GLOBAL_PLACEHOLDERS)
# Declare ROS messages and services
add_message_files(DIRECTORY msg FILES
XiImageInfo.msg)
# Generate messages
generate_messages(DEPENDENCIES std_msgs)
catkin_package(INCLUDE_DIRS include
CATKIN_DEPENDS ${catkin_deps}
DEPENDS Boost
LIBRARIES ${PROJECT_NAME}
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include
${XIMEA_INCLUDE_PATH}
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIR}
${OpenCV_INCLUDE_DIRS}
)
## Declare a C++ library
add_library(${PROJECT_NAME}
src/ximea_ros_cam.cpp
)
## Link the catkin libraries
target_link_libraries(${PROJECT_NAME}
${XIMEA_LIBRARY}
${catkin_LIBRARIES}
${Boost_LIBRARIES}
${OpenCV_LIBRARIES}
yaml-cpp
)
target_compile_options(${PROJECT_NAME} PRIVATE -Wall -Wextra)
## Package depends on its generated messages
add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages_cpp)
## Declare a C++ executable
add_executable(${PROJECT_NAME}_node src/ximea_ros_cam_node.cpp)
## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node
${XIMEA_LIBRARY}
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
yaml-cpp
${PROJECT_NAME}
)
target_compile_options(${PROJECT_NAME}_node PRIVATE -Wall -Wextra)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executables and/or libraries for installation
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
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 "*.hpp"
)
## Mark other files for installation (e.g. launch and bag files, etc.)
install(DIRECTORY launch config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
## Need to explicitly list nodelets.xml for installation
install(FILES nodelets.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
# #############
# ## Testing ##
# #############
#
# ## Add gtest based cpp test target and link libraries
# if (CATKIN_ENABLE_TESTING)
# file(GLOB TEST_FILES "test/*.cpp")
# catkin_add_gtest(${PROJECT_NAME}-test ${TEST_FILES})
# target_link_libraries(${PROJECT_NAME}-test ${catkin_LIBRARIES})
# endif(CATKIN_ENABLE_TESTING)