CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(cnr_tf_named_object_loader)

# #################################
# Preamble
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED On)
set(CMAKE_CXX_EXTENSIONS Off)

set(CMAKE_BUILD_TYPE Release)

### 
find_package(yaml-cpp REQUIRED)
find_package(Eigen3 REQUIRED COMPONENTS Core)
### 
find_package(catkin REQUIRED COMPONENTS
  moveit_msgs
  moveit_ros_planning_interface
  tf2_ros
)

###################################
## catkin specific configuration ##
###################################
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES cnr_tf_named_object_loader
  CATKIN_DEPENDS moveit_msgs moveit_ros_planning_interface
  DEPENDS Eigen3
)

###########
## Build ##
###########
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${YAML_CPP_INCLUDE_DIRS}
)

## Declare a C++ library
add_library(${PROJECT_NAME}
   src/${PROJECT_NAME}/cnr_tf_named_object_loader.cpp
)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}
  ${catkin_LIBRARIES}
  ${YAML_CPP_LIBRARIES}
  Eigen3::Eigen
)

add_executable(${PROJECT_NAME}_node src/cnr_tf_named_object_loader_node.cpp)
add_dependencies(${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 ${PROJECT_NAME}
    ${catkin_LIBRARIES}
)

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

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
install(TARGETS ${PROJECT_NAME}_node
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

# Mark libraries for installation
# See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
install(TARGETS ${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_GLOBAL_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
)

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

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