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- cmake_minimum_required(VERSION 3.8.3)
- project(lidar_point_cloud)
- list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
- ## 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
- std_msgs
- genmsg
- cmake_modules
- Eigen
- )
- ## 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 and a run_depend tag for each package in MSG_DEP_SET
- ## * If MSG_DEP_SET isn't empty the following dependencies might have been
- ## pulled in transitively but can be declared for certainty nonetheless:
- ## * add a build_depend tag for "message_generation"
- ## * 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
- ## 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(
- # FILES
- # Message1.msg
- # Message2.msg
- # )
- ## Generate services in the 'srv' folder
- # add_service_files(
- # FILES
- # Service1.srv
- # Service2.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
- # std_msgs
- # )
- ###################################
- ## 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 lidar_point_cloud
- CATKIN_DEPENDS
- roscpp rospy std_msgs cmake_modules Eigen
- DEPENDS system_lib
- )
- ###########
- ## Build ##
- ###########
- ## Specify additional locations of header files
- ## Your package locations should be listed before other locations
- # include_directories(include)
- include_directories(
- ${catkin_INCLUDE_DIRS}
- )
- include_directories(${EIGEN_INCLUDE_DIRS})
- ## Declare a cpp library
- # add_library(lidar_point_cloud
- # src/${PROJECT_NAME}/lidar_point_cloud.cpp
- # )
- ## Declare a cpp executable
- add_executable(lidar_point_cloud laser_scan_to_point_cloud.cpp)
- ## Add cmake target dependencies of the executable/library
- ## as an example, message headers may need to be generated before nodes
- add_dependencies(lidar_point_cloud src/idar_point_cloud_generate_messages_cpp)
- ## Specify libraries to link a library or executable target against
- target_link_libraries(lidar_point_cloud_node
- ${catkin_LIBRARIES}
- )
- #############
- ## 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 lidar_point_cloud lidar_point_cloud_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
- # )
- ## Mark other files for installation (e.g. launch and bag files, etc.)
- # install(FILES
- # # myfile1
- # # myfile2
- # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
- # )
- #############
- ## Testing ##
- be run by python nosetests
- # catkin_add_nosetests(test)
- -- INSERT -- 166,29 Bot
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