CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(scrimmage_ros)

set(CATKIN_BUILD_BINARY_PACKAGE ON)

# see : https://crascit.com/2016/04/09/using-ccache-with-cmake/
find_program(CCACHE_PROGRAM ccache)
if(CCACHE_PROGRAM)
  set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CCACHE_PROGRAM}")
else()
  message("ccache not found, repeated builds will be faster if this program is installed")
endif()

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH}
    ${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules)

## Add support for C++11, supported in ROS Kinetic and newer
# add_definitions(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  sensor_msgs
  std_msgs
  nav_msgs
  geometry_msgs
  tf
  message_generation
  dynamic_reconfigure
)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

# Generate messages in the 'msg' folder
add_message_files(DIRECTORY msg FILES
  ID.msg
  Contact.msg
  ContactArray.msg
  RosBidAuction.msg
  RosStartAuction.msg
)

## Generate services in the 'srv' folder
add_service_files(
  FILES
  ScrimmageNodeAdvertise.srv
)

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
generate_messages(DEPENDENCIES geometry_msgs)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

# Generate dynamic reconfigure parameters in the 'cfg' folder
generate_dynamic_reconfigure_options(
  cfg/scrimmage_ros.cfg
  )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
 INCLUDE_DIRS include
 LIBRARIES scrimmage_ros
 CATKIN_DEPENDS roscpp roscpp sensor_msgs std_msgs geometry_msgs
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(include)
include_directories(
  ${catkin_INCLUDE_DIRS}
)

## 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})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/scrimmage_ros_node.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#   ${catkin_LIBRARIES}
# )

###############################################################################
# SCRIMMAGE CONFIGURATION
###############################################################################
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")

set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -Wall -Wextra") # -fprofile-arcs -ftest-coverage")
set(CMAKE_C_FLAGS_DEBUG "${CMAKE_C_FLAGS_DEBUG} -Wall -Wextra") # -fprofile-arcs -ftest-coverage")

option(ADD_HOME_LOCAL_PREFIX "Add ~/.local to cmake prefix" OFF)
if(ADD_HOME_LOCAL_PREFIX)
  set(CMAKE_PREFIX_PATH $ENV{HOME}/.local/ ${CMAKE_PREFIX_PATH})
endif()

find_package(scrimmage)
include_directories(${SCRIMMAGE_INCLUDE_DIRS})

# Allow scrimmage to find the maps in this repo:
# set(SCRIMMAGE_LOCAL_CONFIG_DIR "$ENV{HOME}/.scrimmage")
# set(SCRIMMAGE_ENV_DIR "${SCRIMMAGE_LOCAL_CONFIG_DIR}/env")
# file(MAKE_DIRECTORY ${SCRIMMAGE_ENV_DIR})
# configure_file(${CMAKE_SOURCE_DIR}/${PROJECT_NAME}/cmake/Modules/setenv.in
#   "${SCRIMMAGE_ENV_DIR}/${PROJECT_NAME}-setenv" @ONLY)
# execute_process(COMMAND bash "-c" "${CMAKE_SOURCE_DIR}/${PROJECT_NAME}/scripts/edit-config.sh ${SCRIMMAGE_LOCAL_CONFIG_DIR} ${PROJECT_NAME}" OUTPUT_VARIABLE result)

################################################
# Find packages required by scrimmage plugins
###############################################
find_package(Protobuf 3.3.0 REQUIRED)
include_directories(${PROTOBUF_INCLUDE_DIRS})

find_package(Eigen3 QUIET)

if (NOT Eigen3_FOUND)
  include(LibFindMacros)
  libfind_pkg_check_modules(EIGEN_PKGCONFIG eigen3)
  if (EIGEN_PKGCONFIG_INCLUDE_DIRS STREQUAL "")
    message(FATAL_ERROR "could not find eigen either through find_package or pkgconfig")
  endif()
  set(EIGEN3_INCLUDE_DIR ${EIGEN_PKGCONFIG_INCLUDE_DIRS})
  message("Found Eigen with pkg-config, EIGEN3_INCLUDE_DIR: ${EIGEN3_INCLUDE_DIR}")
endif()
include_directories(${EIGEN3_INCLUDE_DIR})


# # Create the scrimmage_autonomy node
# add_executable(scrimmage_autonomy_node src/scrimmage_autonomy.cpp)
# set_target_properties(scrimmage_autonomy_node PROPERTIES scrimmage_autonomy_node node PREFIX "")
# target_link_libraries(scrimmage_autonomy_node ${catkin_LIBRARIES} ${SCRIMMAGE_LIBRARIES})
# add_dependencies(scrimmage_autonomy_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

# Create the primary scrimmage_ros library
add_library(scrimmage_ros SHARED
  ./src/scrimmage_ros.cpp
  ./src/dynamic_param_client.cpp
  )
target_link_libraries(scrimmage_ros
  scrimmage-core
  ${catkin_LIBRARIES}
  )
add_dependencies(scrimmage_ros ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

# Build the scrimmage nodelet
add_library(scrimmage_nodelet SHARED
  ./src/nodelet.cpp
  )
target_link_libraries(scrimmage_nodelet
  ${catkin_LIBRARIES}
  scrimmage-core
  scrimmage_ros
  )
add_dependencies(scrimmage_nodelet ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

# the auction node
add_executable(auctioneer src/auctioneer.cpp)
target_link_libraries(auctioneer
  ${catkin_LIBRARIES}
  scrimmage-core
  scrimmage-python
  scrimmage_ros
  )
add_dependencies(auctioneer ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

# Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
  PATTERN ".svn" EXCLUDE
)

install(TARGETS scrimmage_ros
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)

# https://github.com/ros-perception/slam_gmapping/pull/56
install(FILES nodelet_plugins.xml
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

## Mark other files for installation (e.g. launch and bag files, etc.)
install(FILES
  test/test_auction.launch
  test/test_auction2.launch
  test/test_two_subscribers.launch
  test/test_dyn_param.launch
  test/test_dyn_param2.launch
  # myfile2
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_scrimmage_ros.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
if(CATKIN_ENABLE_TESTING)
    find_package(rostest REQUIRED)

    # If gtest was directly compiled from a place catkin doesn't expect, catkin
    # will set GTEST_FOUND to false no matter what the current value, and the
    # add_rostest_gtest() calls below will not add their targets, which will
    # cause their subsequent target_link_library() calls to fail
    # fatally.
    if (TARGET gtest_main)
      set(GTEST_FOUND TRUE)
    endif()

    add_rostest_gtest(test_auction
      test/test_auction.launch
      test/test_auction.cpp
      )
    target_link_libraries(test_auction
      ${catkin_LIBRARIES}
      scrimmage-core
      scrimmage-python
      scrimmage_ros
      gtest_main
      )

    add_rostest_gtest(test_auction2
      test/test_auction2.launch
      test/test_auction.cpp
      )
    target_link_libraries(test_auction2
      ${catkin_LIBRARIES}
      scrimmage-core
      scrimmage-python
      scrimmage_ros
      gtest_main)

    add_rostest_gtest(test_two_subscribers
      test/test_two_subscribers.launch
      test/test_auction.cpp
      )

    target_link_libraries(test_two_subscribers
      ${catkin_LIBRARIES}
      scrimmage-core
      scrimmage-python
      scrimmage_ros
      gtest_main)

    add_rostest_gtest(test_dyn_param
      test/test_dyn_param.launch
      test/test_dyn_param.cpp
      )
    target_link_libraries(test_dyn_param
      ${catkin_LIBRARIES}
      scrimmage-core
      scrimmage-python
      scrimmage_ros
      gtest_main
      )

    add_rostest_gtest(test_dyn_param2
      test/test_dyn_param2.launch
      test/test_dyn_param.cpp
      )
    target_link_libraries(test_dyn_param2
      ${catkin_LIBRARIES}
      scrimmage-core
      scrimmage-python
      scrimmage_ros
      gtest_main
      )
endif()

###############################################################################
# Binary installation generation
###############################################################################
set(CPACK_INSTALL_CMAKE_PROJECTS "${CMAKE_CURRENT_BINARY_DIR};${PROJECT_NAME};ALL;/")
set(CPACK_OUTPUT_CONFIG_FILE "${PROJECT_BINARY_DIR}/CPackConfig.cmake")
set(CPACK_PACKAGE_VERSION "0.0.1")
set(CPACK_GENERATOR "DEB")
set(CPACK_PACKAGE_NAME ${PROJECT_NAME})
# set(CPACK_DEBIAN_PACKAGE_ARCHITECTURE "${MULTIARCH}")
set(CPACK_PACKAGE_RELEASE 1)
set(CPACK_PACKAGE_CONTACT "Kevin DeMarco")
set(CPACK_PACKAGE_VENDOR "GTRI")
set(CPACK_PACKAGING_INSTALL_PREFIX ${ROS_INSTALL_PREFIX})
set(CPACK_PACKAGE_FILE_NAME "${CPACK_PACKAGE_NAME}-${CPACK_PACKAGE_VERSION}-${CPACK_PACKAGE_RELEASE}.${CMAKE_SYSTEM_PROCESSOR}")
include(CPack)