CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(jackal_bsc)

## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)

## 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
  roscpp
  rospy
  geometry_msgs
  message_filters
  message_generation
  nav_msgs
  std_msgs
  tf
)

add_message_files(
  FILES
  Float64Stamped.msg
)

generate_messages(
  DEPENDENCIES
  std_msgs
)

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## 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 include
   LIBRARIES jackal_bsc
   CATKIN_DEPENDS message_runtime
#  DEPENDS system_lib
)

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

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

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/jackal_bsc.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/jackal_bsc_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

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

add_library(BSCTwistStamped src/BSCTwistStamped.cpp)

add_library(BSCSolver src/BSCSolver.cpp)
add_dependencies(BSCSolver ${catkin_EXPORTED_TARGETS})
target_link_libraries(BSCSolver ${catkin_LIBRARIES})

add_executable(twist_stamped_publisher src/twist_stamped_publisher.cpp)
target_link_libraries(twist_stamped_publisher BSCTwistStamped ${catkin_LIBRARIES})

add_executable(bsc_node src/bsc_node.cpp)
target_link_libraries(bsc_node BSCSolver ${catkin_LIBRARIES})

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

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