wj_lidar_module/CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(wj_716_lidar)

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

find_package(PCL REQUIRED)
find_package(Boost REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Glog REQUIRED)
find_package(GFlags REQUIRED)
FIND_PACKAGE(Protobuf REQUIRED)
find_package(OpenCV REQUIRED)

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

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

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  ${EIGEN3_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
  ${OpenCV_INLCUDE_DIRS}
  /usr/local/include
  /usr/local/include/snap7
  ./src
)

aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/src/wj_lidar WJ_LIDAR_TOTAL_SRC)
# aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/src/test WJ_TEST_SRC)
aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/src/error_code ERROR_CODE_SRC)
aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/src/tool TOOL_SRC)
aux_source_directory(${CMAKE_CURRENT_LIST_DIR}/src/task TASK_SRC)

# MESSAGE(WARNING ${WJ_LIDAR_TOTAL_SRC})

set(WJ_LIDAR_SRC ${CMAKE_CURRENT_LIST_DIR}/src/wj_lidar/async_client.cpp
                  ${CMAKE_CURRENT_LIST_DIR}/src/wj_lidar/wj_716_lidar_protocol.cpp
                  ${CMAKE_CURRENT_LIST_DIR}/src/wj_lidar/wj_lidar_conf.pb.cc
                  ${CMAKE_CURRENT_LIST_DIR}/src/wj_lidar/wj_lidar_encapsulation.cpp)

add_executable(wj_716_lidar ${CMAKE_CURRENT_LIST_DIR}/src/test/wj_lidar_test.cpp ${ERROR_CODE_SRC} ${WJ_LIDAR_SRC})
target_link_libraries(wj_716_lidar ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${PROTOBUF_LIBRARIES} glog gflags)

add_executable(wj_fence_controller ${CMAKE_CURRENT_LIST_DIR}/src/test/wj_manager_test.cpp ${ERROR_CODE_SRC} ${WJ_LIDAR_TOTAL_SRC} ${TOOL_SRC} ${TASK_SRC})
target_link_libraries(wj_fence_controller ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${PROTOBUF_LIBRARIES} ${OpenCV_LIBS} glog gflags snap7 nanomsg nnxx)

#add_dependencies(wj_716_lidar ${PROJECT_NAME}_gencfg)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/wj_716_lidar.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/wj_716_lidar_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}
# )

#############
## 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 ${PROJECT_NAME} ${PROJECT_NAME}_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(${PROJECT_NAME}-test test/test_wj_716_lidar.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)