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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.8.0)
project(tf2_server)
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
message_generation
nodelet
roscpp
tf2_msgs
tf2_ros
)
catkin_python_setup()
add_service_files(DIRECTORY srv)
generate_messages()
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME} tf2_subtree_listener
CATKIN_DEPENDS geometry_msgs message_runtime nodelet roscpp tf2_msgs tf2_ros
)
include_directories(include)
include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
add_library(${PROJECT_NAME} src/tf2_server.cpp)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
add_library(${PROJECT_NAME}_nodelet src/tf2_server_nodelet.cpp)
add_dependencies(${PROJECT_NAME}_nodelet ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_nodelet ${PROJECT_NAME} ${catkin_LIBRARIES})
add_executable(${PROJECT_NAME}_node src/tf2_server_node.cpp)
add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME})
target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME} ${catkin_LIBRARIES})
add_library(tf2_subtree_listener src/tf2_subtree_listener.cpp)
add_dependencies(tf2_subtree_listener ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(tf2_subtree_listener ${catkin_LIBRARIES})
if (${CATKIN_ENABLE_TESTING})
find_package(rostest REQUIRED)
add_rostest_gtest(test_tf2_subtree_listener test/tf2_subtree_listener.test test/test_tf2_subtree_listener.cpp)
target_link_libraries(test_tf2_subtree_listener tf2_subtree_listener ${catkin_LIBRARIES})
add_library(${PROJECT_NAME}_early_initial_params_test_nodelet test/tf2_server_early_initial_params_nodelet.cpp)
add_dependencies(${PROJECT_NAME}_early_initial_params_test_nodelet ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_early_initial_params_test_nodelet ${catkin_LIBRARIES})
add_rostest(test/tf2_subtree_listener_py.test)
add_rostest(test/tf2_server_initial_params.test)
add_rostest(test/tf2_server_early_initial_params.test)
endif()
install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node ${PROJECT_NAME}_nodelet tf2_subtree_listener
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
)
install(FILES tf2_server_nodelets.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)