update

Controllers/Packages/amr_control/CMakeLists.txt

@@ -23,6 +23,7 @@ find_package(catkin REQUIRED COMPONENTS
   robot_nav_2d_utils
   move_base_core
   robot_cpp
+  robot_nav_msgs
 )
 
 ## System dependencies are found with CMake's conventions
@@ -40,7 +41,7 @@ find_package(PkgConfig)
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES amr_control 
+  LIBRARIES amr_control amr_control_converter amr_control_publisher amr_control_subscriber
   CATKIN_DEPENDS 
     geometry_msgs  
     loc_core 
@@ -66,6 +67,18 @@ include_directories(
 )
 
 ## Declare a C++ library
+add_library(${PROJECT_NAME}_converter src/tf_converter.cpp src/sensor_converter.cpp)
+add_dependencies(${PROJECT_NAME}_converter ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(${PROJECT_NAME}_converter ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+
+add_library(${PROJECT_NAME}_publisher src/amr_publiser.cpp)
+add_dependencies(${PROJECT_NAME}_publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(${PROJECT_NAME}_publisher ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+
+add_library(${PROJECT_NAME}_subscriber src/amr_subcriber.cpp)
+add_dependencies(${PROJECT_NAME}_subscriber ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(${PROJECT_NAME}_subscriber ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+
 add_library(${PROJECT_NAME}
   src/amr_control.cpp
   src/amr_monitor.cpp
@@ -75,18 +88,14 @@ add_library(${PROJECT_NAME}
   src/amr_make_plan_with_order.cpp
 )
 
-add_library(${PROJECT_NAME}_converter src/tf_converter.cpp src/sensor_converter.cpp src/amr_publiser.cpp)
-add_dependencies(${PROJECT_NAME}_converter ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(${PROJECT_NAME}_converter ${catkin_LIBRARIES} ${Boost_LIBRARIES})
-
 ## Add cmake target dependencies of the library
 ## as an example, code may need to be generated before libraries
 ## either from message generation or dynamic reconfigure
-add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_converter_EXPORTED_TARGETS} ${${PROJECT_NAME}_publisher_EXPORTED_TARGETS} ${${PROJECT_NAME}_subscriber_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 # Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
 # Libraries will be found via LD_LIBRARY_PATH or system paths
-set_target_properties(${PROJECT_NAME} PROPERTIES
+set_target_properties(${PROJECT_NAME} ${PROJECT_NAME}_converter ${PROJECT_NAME}_publisher ${PROJECT_NAME}_subscriber PROPERTIES
     SKIP_BUILD_RPATH TRUE
     BUILD_WITH_INSTALL_RPATH FALSE
     INSTALL_RPATH_USE_LINK_PATH FALSE
@@ -123,6 +132,8 @@ set_target_properties(${PROJECT_NAME}_node PROPERTIES
 ## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}
   ${PROJECT_NAME}_converter
+  ${PROJECT_NAME}_publisher
+  ${PROJECT_NAME}_subscriber
   ${FreeOpcUa_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
@@ -130,7 +141,6 @@ target_link_libraries(${PROJECT_NAME}
 
 target_link_libraries(${PROJECT_NAME}_node
   ${PROJECT_NAME}
-  ${PROJECT_NAME}_converter
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
 )
@@ -158,7 +168,7 @@ install(TARGETS ${PROJECT_NAME}_node
 
 ## Mark libraries for installation
 ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-install(TARGETS ${PROJECT_NAME} 
+install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_converter ${PROJECT_NAME}_publisher ${PROJECT_NAME}_subscriber
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}