CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(robot_vision)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++14)

## 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
  message_generation
  pcl_conversions
  interactive_markers
  shape_msgs
	pcl_ros
  roscpp
  rospy
  sensor_msgs
  tf2_ros
  tf2_geometry_msgs
  trajectory_msgs
  tf2_eigen
  visualization_msgs
  rviz_visual_tools
)

find_package(Boost REQUIRED)
find_package(Eigen3 REQUIRED)


## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

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

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

## Generate services in the 'srv' folder
# add_service_files(
#  FILES
# )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  geometry_msgs
  std_msgs
  sensor_msgs
  visualization_msgs
  trajectory_msgs
 )

###################################
## catkin specific configuration ##
###################################

catkin_package(
#  INCLUDE_DIRS include
#  LIBRARIES robot_vision
   CATKIN_DEPENDS roscpp rospy std_msgs 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++ executable
add_executable(downsampling src/downsampling.cpp)
add_executable(axes_rviz_markers src/rviz_visual_tools.cpp)
add_executable(point_cloud_preprocessing src/preprocessing.cpp)
add_executable(point_cloud_tf src/cloud_transformer.cpp)

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

## Specify libraries to link a library or executable target against
target_link_libraries(downsampling ${catkin_LIBRARIES})
target_link_libraries(axes_rviz_markers ${catkin_LIBRARIES} ${Boost_LIBRARIES})
target_link_libraries(point_cloud_preprocessing ${catkin_LIBRARIES})
target_link_libraries(point_cloud_tf ${catkin_LIBRARIES})

## https://stackoverflow.com/questions/30535933/eigen-gcc-5-class-stdbinder2nd-is-deprecated
## supress deprecation warnings
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")

#############
## 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
# install(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_ur5_robot.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)