87 lines
2.5 KiB
CMake
87 lines
2.5 KiB
CMake
cmake_minimum_required(VERSION 2.8.3)
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project(velodyne_pointcloud)
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# Set minimum C++ standard to C++11
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if (NOT "${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}")
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message(STATUS "Changing CXX_STANDARD from C++98 to C++11")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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elseif ("${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}" STREQUAL "98")
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message(STATUS "Changing CXX_STANDARD from C++98 to C++11")
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set(CMAKE_CXX_STANDARD 11)
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endif()
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set(${PROJECT_NAME}_CATKIN_DEPS
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angles
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nodelet
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roscpp
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roslib
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sensor_msgs
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tf
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velodyne_driver
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velodyne_msgs
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dynamic_reconfigure
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diagnostic_updater
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)
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find_package(catkin REQUIRED COMPONENTS
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${${PROJECT_NAME}_CATKIN_DEPS}
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roslint)
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find_package(Boost COMPONENTS signals)
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find_package(Eigen3 REQUIRED)
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# Resolve system dependency on yaml-cpp, which apparently does not
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# provide a CMake find_package() module.
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find_package(PkgConfig REQUIRED)
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pkg_check_modules(YAML_CPP REQUIRED yaml-cpp)
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find_path(YAML_CPP_INCLUDE_DIR
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NAMES yaml_cpp.h
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PATHS ${YAML_CPP_INCLUDE_DIRS})
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find_library(YAML_CPP_LIBRARY
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NAMES YAML_CPP
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PATHS ${YAML_CPP_LIBRARY_DIRS})
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link_directories(${YAML_CPP_LIBRARY_DIRS})
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generate_dynamic_reconfigure_options(
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cfg/CloudNode.cfg cfg/TransformNode.cfg
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)
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if(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
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add_definitions(-DHAVE_NEW_YAMLCPP)
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endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
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include_directories(include ${catkin_INCLUDE_DIRS}
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${dynamic_reconfigure_PACKAGE_PATH}/cmake/cfgbuild.cmake
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${EIGEN3_INCLUDE_DIR}
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)
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catkin_package(
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CATKIN_DEPENDS ${${PROJECT_NAME}_CATKIN_DEPS}
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INCLUDE_DIRS include
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LIBRARIES velodyne_rawdata)
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#add_executable(dynamic_reconfigure_node src/dynamic_reconfigure_node.cpp)
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#target_link_libraries(dynamic_reconfigure_node
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# ${catkin_LIBRARIES}
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# )
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add_subdirectory(src/lib)
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add_subdirectory(src/conversions)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
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install(FILES nodelets.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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install(DIRECTORY launch/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
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install(DIRECTORY params/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/params)
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install(PROGRAMS scripts/gen_calibration.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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roslint_cpp()
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if (CATKIN_ENABLE_TESTING)
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add_subdirectory(tests)
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endif()
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