53 lines
1.5 KiB
CMake
Executable File
53 lines
1.5 KiB
CMake
Executable File
cmake_minimum_required(VERSION 3.0.2)
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project(tf2_geometry_msgs)
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find_package(orocos_kdl)
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find_package(catkin REQUIRED COMPONENTS geometry_msgs tf2_ros tf2)
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find_package(Boost COMPONENTS thread REQUIRED)
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# Issue #53
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find_library(KDL_LIBRARY REQUIRED NAMES orocos-kdl HINTS ${orocos_kdl_LIBRARY_DIRS})
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catkin_package(
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LIBRARIES ${KDL_LIBRARY}
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INCLUDE_DIRS include
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DEPENDS orocos_kdl
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CATKIN_DEPENDS geometry_msgs tf2_ros tf2)
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include_directories(include
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${catkin_INCLUDE_DIRS}
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)
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link_directories(${orocos_kdl_LIBRARY_DIRS})
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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catkin_python_setup()
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if(CATKIN_ENABLE_TESTING)
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catkin_add_gtest(test_tomsg_frommsg test/test_tomsg_frommsg.cpp)
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target_include_directories(test_tomsg_frommsg PUBLIC ${orocos_kdl_INCLUDE_DIRS})
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target_link_libraries(test_tomsg_frommsg ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ${orocos_kdl_LIBRARIES})
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find_package(catkin REQUIRED COMPONENTS geometry_msgs rostest tf2_ros tf2)
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add_executable(test_geometry_msgs EXCLUDE_FROM_ALL test/test_tf2_geometry_msgs.cpp)
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target_include_directories(test_geometry_msgs PUBLIC ${orocos_kdl_INCLUDE_DIRS})
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target_link_libraries(test_geometry_msgs ${catkin_LIBRARIES} ${GTEST_LIBRARIES} ${orocos_kdl_LIBRARIES})
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add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test.launch)
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add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_python.launch)
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if(TARGET tests)
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add_dependencies(tests test_geometry_msgs)
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endif()
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endif()
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