CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(robot_calibration)

# set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")

## 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
  roslib
  rospy
  sensor_msgs
  std_msgs
  std_srvs
  genmsg
  geometric_shapes
)

find_package(Ceres REQUIRED)

find_package(DART REQUIRED)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)


## 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 ##
################################################

## 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 and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependencies might have been
##     pulled in transitively but can be declared for certainty nonetheless:
##     * add a build_depend tag for "message_generation"
##     * 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(
  DIRECTORY
  msg
  FILES
  CalibrationMeasurement.msg
  RobotMeasurement.msg
  CameraMeasurement.msg
  MarkerMeasurement.msg
  RobotParameters.msg
  JointParameters.msg
  CameraParameters.msg
)

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

## 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
  sensor_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(
  INCLUDE_DIRS include
  LIBRARIES robot_calibration
  CATKIN_DEPENDS roscpp roslib rospy sensor_msgs std_msgs std_srvs geometric_shapes
  DEPENDS system_lib
)

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

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

## Declare a cpp library
add_library(robot_calibration
  src/${PROJECT_NAME}/camera.cpp
  src/${PROJECT_NAME}/marker.cpp
  src/${PROJECT_NAME}/robot.cpp
  src/${PROJECT_NAME}/urdf_loader.cpp
)

## Declare a cpp executable
# add_executable(robot_calibration_node src/robot_calibration_node.cpp)

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
add_dependencies(robot_calibration robot_calibration_generate_messages_cpp)

## Specify libraries to link a library or executable target against
target_link_libraries(robot_calibration
  ${catkin_LIBRARIES}
  # ${DART_LIBRARIES}
  ${CERES_LIBRARIES}
)

#############
## 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 and/or libraries for installation
# install(TARGETS robot_calibration robot_calibration_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 "*.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(ceres_test src/${PROJECT_NAME}/test/ceres_test.cpp)
target_link_libraries(ceres_test ${CERES_LIBRARIES} ${DART_LIBRARIES})

catkin_add_gtest(dart_test src/${PROJECT_NAME}/test/dart_test.cpp)
target_link_libraries(dart_test ${CERES_LIBRARIES} ${DART_LIBRARIES})

catkin_add_gtest(robot_test src/${PROJECT_NAME}/test/robot_test.cpp)
target_link_libraries(robot_test robot_calibration ${catkin_LIBRARIES} ${CERES_LIBRARIES} ${DART_LIBRARIES})

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)