first update
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264
CMakeLists.txt
Normal file
264
CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
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project(mission_adapters VERSION 1.0.0 LANGUAGES CXX)
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# ========================================================
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# Detect build mode
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# ========================================================
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if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
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set(BUILDING_WITH_CATKIN TRUE)
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message(STATUS "Building mission_adapters with Catkin")
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else()
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set(BUILDING_WITH_CATKIN FALSE)
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message(STATUS "Building mission_adapters with Standalone CMake")
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endif()
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# ========================================================
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# C++ Standard
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# ========================================================
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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# ========================================================
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# Common dependencies
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# ========================================================
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find_package(PCL REQUIRED)
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find_package(OpenMP REQUIRED)
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find_package(Boost REQUIRED COMPONENTS system)
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find_package(Eigen REQUIRED)
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# ========================================================
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# Standalone mode
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# ========================================================
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if (NOT BUILDING_WITH_CATKIN)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
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# ⚠️ NOTE: Đây KHÔNG phải package thật -> chỉ để placeholder
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set(PACKAGES_DIR
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robot_costmap_2d
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robot_nav_core
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robot_nav_core2
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robot_nav_msgs
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robot_std_msgs
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robot_geometry_msgs
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robot_cpp
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robot_tf3_geometry_msgs
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robot_visualization_msgs
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robot_nav_2d_utils
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data_convert
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)
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find_library(TF3_LIBRARY
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NAMES tf3
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PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu
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)
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if(NOT TF3_LIBRARY)
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message(FATAL_ERROR "❌ tf3 library not found")
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endif()
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# ========================================================
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# Catkin mode
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# ========================================================
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else()
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find_package(catkin REQUIRED COMPONENTS
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robot_costmap_2d
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robot_nav_core
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robot_nav_core2
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robot_nav_msgs
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robot_std_msgs
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robot_geometry_msgs
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robot_cpp
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robot_tf3_geometry_msgs
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robot_visualization_msgs
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robot_nav_2d_utils
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data_convert
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)
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find_library(TF3_LIBRARY
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NAMES tf3
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PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu
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)
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if(NOT TF3_LIBRARY)
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message(FATAL_ERROR "❌ tf3 library not found")
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endif()
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES ${PROJECT_NAME} ${PROJECT_NAME}_utils
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CATKIN_DEPENDS
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robot_costmap_2d
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robot_nav_core
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robot_nav_core2
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robot_nav_msgs
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robot_std_msgs
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robot_geometry_msgs
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robot_cpp
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robot_tf3_geometry_msgs
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robot_visualization_msgs
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robot_nav_2d_utils
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data_convert
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DEPENDS PCL Boost Eigen
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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)
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endif()
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# ========================================================
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# Libraries
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# ========================================================
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# # utils lib
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# add_library(${PROJECT_NAME}_utils SHARED
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# src/angle_utils.cpp
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# src/config.cpp
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# )
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# main planner lib
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add_library(${PROJECT_NAME} SHARED
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src/mission_adapters.cpp
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)
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# ========================================================
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# Catkin linking
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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# add_dependencies(${PROJECT_NAME}_utils ${catkin_EXPORTED_TARGETS})
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add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
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# target_include_directories(${PROJECT_NAME}_utils
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# PUBLIC
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# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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# $<INSTALL_INTERFACE:include>
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# )
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target_include_directories(${PROJECT_NAME}
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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# target_link_libraries(${PROJECT_NAME}_utils
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# PUBLIC ${catkin_LIBRARIES}
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# PRIVATE Boost::system
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# ${TF3_LIBRARY}
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# )
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target_link_libraries(${PROJECT_NAME}
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# PUBLIC ${PROJECT_NAME}_utils
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PUBLIC ${catkin_LIBRARIES}
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PUBLIC ${PCL_LIBRARIES}
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PRIVATE Boost::system
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${TF3_LIBRARY}
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OpenMP::OpenMP_CXX
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)
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# ========================================================
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# Standalone linking
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# ========================================================
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else()
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# target_include_directories(${PROJECT_NAME}_utils
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# PUBLIC
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# $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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# $<INSTALL_INTERFACE:include>
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# )
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target_include_directories(${PROJECT_NAME}
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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# target_link_libraries(${PROJECT_NAME}_utils
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# PUBLIC ${PACKAGES_DIR} # ⚠️ placeholder
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# PRIVATE Boost::system
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# ${TF3_LIBRARY}
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# )
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target_link_libraries(${PROJECT_NAME}
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# PUBLIC ${PROJECT_NAME}_utils
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PUBLIC ${PACKAGES_DIR} # ⚠️ placeholder
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PUBLIC ${PCL_LIBRARIES}
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PRIVATE Boost::system
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${TF3_LIBRARY}
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OpenMP::OpenMP_CXX
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)
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# set_target_properties(${PROJECT_NAME}_utils PROPERTIES
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# LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
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# BUILD_RPATH "${CMAKE_BINARY_DIR}"
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# INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
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# )
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set_target_properties(${PROJECT_NAME} PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
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BUILD_RPATH "${CMAKE_BINARY_DIR}"
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INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
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)
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endif()
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# ========================================================
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# Install
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_utils
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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# )
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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)
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if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/plugins.xml)
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install(FILES plugins.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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endif()
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else()
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# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_utils
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# EXPORT ${PROJECT_NAME}-targets
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# ARCHIVE DESTINATION lib
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# LIBRARY DESTINATION lib
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# RUNTIME DESTINATION bin
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# )
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install(EXPORT ${PROJECT_NAME}-targets
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FILE ${PROJECT_NAME}-targets.cmake
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NAMESPACE ${PROJECT_NAME}::
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DESTINATION lib/cmake/${PROJECT_NAME}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION include
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FILES_MATCHING PATTERN "*.h"
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)
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if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/plugins.xml)
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install(FILES plugins.xml
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DESTINATION share/${PROJECT_NAME}
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)
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endif()
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endif()
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