CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(atlas)

## c++11 required
add_definitions(-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
  message_generation
  std_msgs
  geometry_msgs
  tf2
  tf2_ros
)

## System dependencies are found with CMake's conventions
# find_package(GTest REQUIRED)

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
add_message_files(
   FILES
   MarkerData.msg
   FusedPose.msg
)

## Generate added messages and services with any dependencies listed here
generate_messages(
   DEPENDENCIES
   geometry_msgs
   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 you 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(
    CATKIN_DEPENDS message_runtime std_msgs geometry_msgs
)

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

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

## 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(atlas ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

SET(SRC_FILES
   src/config.cpp
   src/sensorlistener.cpp
   src/filters.cpp
   src/transformgraph.cpp
   src/helpers.cpp
   src/transformgraphbroadcaster.cpp
)

SET(EXT_LIBS
   yaml-cpp
)

## Declare a C++ executable
add_executable(atlas_node src/main.cpp ${SRC_FILES})

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

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

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

## Add gtest based cpp test target and link libraries
catkin_add_gtest(${PROJECT_NAME}-test
    test/filtertest.cpp
    test/sensortest.cpp
    test/configtest.cpp
    test/graphtest.cpp
    test/helpers.cpp
    test/main.cpp

    ${SRC_FILES}
)
if(TARGET ${PROJECT_NAME}-test)
   target_link_libraries(${PROJECT_NAME}-test ${catkin_LIBRARIES} ${EXT_LIBS})
endif()