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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
-find_package
+
-(
+
 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
-   INCLUDE_DIRS include
+
-   LIBRARIES lidar_point_cloud
+
 ## DEPENDS: system dependencies of this project that dependent projects also need
-   CATKIN_DEPENDS roscpp rospy std_msgs
+
-   DEPENDS system_lib
+  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)
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