154 lines
3.7 KiB
CMake
Executable File
154 lines
3.7 KiB
CMake
Executable File
cmake_minimum_required(VERSION 3.0.2)
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project(tf2_ros)
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if(NOT ANDROID)
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set(TF2_PY tf2_py)
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endif()
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find_package(catkin REQUIRED COMPONENTS
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actionlib
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actionlib_msgs
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geometry_msgs
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message_filters
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roscpp
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rosgraph
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rospy
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tf2
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tf2_msgs
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${TF2_PY}
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)
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find_package(Boost REQUIRED COMPONENTS thread)
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catkin_python_setup()
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES ${PROJECT_NAME}
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CATKIN_DEPENDS
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actionlib
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actionlib_msgs
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geometry_msgs
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message_filters
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roscpp
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rosgraph
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tf2
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tf2_msgs
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${TF2_PY}
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)
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include_directories(include ${catkin_INCLUDE_DIRS})
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# tf2_ros library
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add_library(${PROJECT_NAME}
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src/buffer.cpp
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src/transform_listener.cpp
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src/buffer_client.cpp
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src/buffer_server.cpp
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src/transform_broadcaster.cpp
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src/static_transform_broadcaster.cpp
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)
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add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
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# buffer_server executable
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add_executable(${PROJECT_NAME}_buffer_server src/buffer_server_main.cpp)
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add_dependencies(${PROJECT_NAME}_buffer_server ${catkin_EXPORTED_TARGETS})
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target_link_libraries(${PROJECT_NAME}_buffer_server
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${PROJECT_NAME}
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${catkin_LIBRARIES}
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${Boost_LIBRARIES}
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)
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set_target_properties(${PROJECT_NAME}_buffer_server
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PROPERTIES OUTPUT_NAME buffer_server
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)
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# static_transform_publisher
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add_executable(${PROJECT_NAME}_static_transform_publisher
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src/static_transform_broadcaster_program.cpp
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)
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add_dependencies(${PROJECT_NAME}_static_transform_publisher ${catkin_EXPORTED_TARGETS})
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target_link_libraries(${PROJECT_NAME}_static_transform_publisher
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${PROJECT_NAME}
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${catkin_LIBRARIES}
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)
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set_target_properties(${PROJECT_NAME}_static_transform_publisher
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PROPERTIES OUTPUT_NAME static_transform_publisher
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)
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# Install library
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install(TARGETS
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${PROJECT_NAME}
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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 ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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# Install executable
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install(TARGETS
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${PROJECT_NAME}_buffer_server ${PROJECT_NAME}_static_transform_publisher
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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 ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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# Tests
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if(CATKIN_ENABLE_TESTING)
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# new requirements for testing
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find_package(catkin REQUIRED COMPONENTS
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actionlib
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actionlib_msgs
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geometry_msgs
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message_filters
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roscpp
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rosgraph
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rospy
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rostest
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tf2
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tf2_msgs
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${TF2_PY}
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)
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# tf2_ros_test_listener
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add_executable(${PROJECT_NAME}_test_listener EXCLUDE_FROM_ALL test/listener_unittest.cpp)
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add_dependencies(${PROJECT_NAME}_test_listener ${catkin_EXPORTED_TARGETS})
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add_executable(${PROJECT_NAME}_test_time_reset EXCLUDE_FROM_ALL test/time_reset_test.cpp)
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add_dependencies(${PROJECT_NAME}_test_time_reset ${catkin_EXPORTED_TARGETS})
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add_executable(${PROJECT_NAME}_test_message_filter EXCLUDE_FROM_ALL test/message_filter_test.cpp)
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add_dependencies(${PROJECT_NAME}_test_message_filter ${catkin_EXPORTED_TARGETS})
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target_link_libraries(${PROJECT_NAME}_test_listener
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${PROJECT_NAME}
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${catkin_LIBRARIES}
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${GTEST_LIBRARIES}
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)
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target_link_libraries(${PROJECT_NAME}_test_time_reset
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${PROJECT_NAME}
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${catkin_LIBRARIES}
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${GTEST_LIBRARIES}
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)
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target_link_libraries(${PROJECT_NAME}_test_message_filter
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${PROJECT_NAME}
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${catkin_LIBRARIES}
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${GTEST_LIBRARIES}
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)
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add_dependencies(tests ${PROJECT_NAME}_test_listener)
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add_dependencies(tests ${PROJECT_NAME}_test_time_reset)
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add_dependencies(tests ${PROJECT_NAME}_test_message_filter)
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add_rostest(test/transform_listener_unittest.launch)
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add_rostest(test/transform_listener_time_reset_test.launch)
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add_rostest(test/message_filter_test.launch)
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endif()
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