CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(toro)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  roscpp_serialization
  rospy
  serial
  serial_utils
  std_msgs
  nav_msgs
  tf
)

find_package(Boost REQUIRED COMPONENTS system thread)

add_message_files(
  FILES
    Encoders.msg
    StampedEncoders.msg
)

generate_messages(DEPENDENCIES geometry_msgs nav_msgs)

catkin_package(
  DEPENDS system_lib
  INCLUDE_DIRS include
  LIBRARIES ax2550
  CATKIN_DEPENDS geometry_msgs nav_msgs roscpp serial serial_utils tf
)


include_directories(include $catkin_INCLUDE_DIRS)

#example publisher
add_executable(example_publisher src/example_publisher.cpp)
target_link_libraries(example_publisher ${catkin_LIBRARIES})

#example subscriber
add_executable(example_subscriber src/example_subscriber.cpp)
target_link_libraries(example_subscriber ${catkin_LIBRARIES})

#LMS1xx node
add_executable(LMS1xx_node src/LMS1xx_node.cpp src/LMS1xx.cpp)
target_link_libraries(LMS1xx_node ${catkin_LIBRARIES})

#sweepLaserInterface node #this is thr one I'm currently working on/encountering errors in
add_executable(sweepLaserInterface_node src/sweepLaserInterface.cpp)
target_link_libraries(sweepLaserInterface_node ${catkin_LIBRARIES})

install(TARGETS LMS1xx_node DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

## ax2550 ROS agnostic library
add_library(ax2550 src/ax2550.cpp)
target_link_libraries(ax2550 ${serial_LIBRARIES} ${serial_utils_LIBRARIES} ${Boost_LIBRARIES})

## ax2550 node
add_executable(ax2550_node src/ax2550_node.cpp)
target_link_libraries(ax2550_node ax2550 ${catkin_LIBRARIES})
add_dependencies(ax2550_node ax2550_generate_messages_cpp ${catkin_EXPORTED_LIBRARIES})

install(TARGETS ax2550 ax2550_node
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h")