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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(laser_filters)
##############################################################################
# Find dependencies
##############################################################################
set(THIS_PACKAGE_ROS_DEPS sensor_msgs roscpp tf filters message_filters
laser_geometry pluginlib angles)
find_package(catkin REQUIRED COMPONENTS ${THIS_PACKAGE_ROS_DEPS})
find_package(Boost REQUIRED COMPONENTS system signals)
include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
##############################################################################
# Define package
##############################################################################
catkin_package(
INCLUDE_DIRS include
LIBRARIES pointcloud_filters laser_scan_filters
CATKIN_DEPENDS ${THIS_PACKAGE_ROS_DEPS}
DEPENDS
)
##############################################################################
# Build
##############################################################################
add_library(pointcloud_filters src/pointcloud_filters.cpp)
target_link_libraries(pointcloud_filters ${catkin_LIBRARIES})
add_library(laser_scan_filters src/laser_scan_filters.cpp src/median_filter.cpp src/array_filter.cpp src/box_filter.cpp)
target_link_libraries(laser_scan_filters ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_executable(scan_to_cloud_filter_chain src/scan_to_cloud_filter_chain.cpp)
target_link_libraries(scan_to_cloud_filter_chain ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_executable(scan_to_scan_filter_chain src/scan_to_scan_filter_chain.cpp)
target_link_libraries(scan_to_scan_filter_chain ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_executable(generic_laser_filter_node src/generic_laser_filter_node.cpp)
target_link_libraries(generic_laser_filter_node ${catkin_LIBRARIES} ${Boost_LIBRARIES})
if (CATKIN_ENABLE_TESTING)
find_package(rostest)
add_executable(test_scan_filter_chain test/test_scan_filter_chain.cpp)
target_link_libraries(test_scan_filter_chain laser_scan_filters ${rostest_LIBRARIES} gtest)
add_dependencies(test_scan_filter_chain gtest)
add_rostest(test/test_scan_filter_chain.launch)
endif()
##############################################################################
# Install
##############################################################################
install(TARGETS pointcloud_filters laser_scan_filters
scan_to_cloud_filter_chain
scan_to_scan_filter_chain
generic_laser_filter_node
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# Install headers
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(FILES laser_filters_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)