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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.1.4)
project(gazebo_mecanum_plugins)
set(CMAKE_CXX_STANDARD 17)
find_package(catkin REQUIRED COMPONENTS
nav_msgs
geometry_msgs
joint_state_controller
robot_state_publisher
roscpp
std_msgs
tf
message_generation
dynamic_reconfigure
)
find_package(gazebo)
add_message_files(
FILES
gazebo_mecanum_plugins_vel.msg
gazebo_mecanum_plugins_pid.msg
)
generate_dynamic_reconfigure_options(
cfg/gazebo_ros_mecanum_pid.cfg
)
generate_messages(
DEPENDENCIES
std_msgs
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES gazebo_mecanum_plugins
CATKIN_DEPENDS
nav_msgs
geometry_msgs
joint_state_controller
robot_state_publisher
roscpp
std_msgs
tf
)
include_directories(
include
${catkin_INCLUDE_DIRS}
${GAZEBO_INCLUDE_DIRS}
)
link_directories(
${catkin_LIBRARY_DIRS}
${GAZEBO_LIBRARY_DIRS}
)
add_library(gazebo_ros_mecanum_drive SHARED src/gazebo_ros_mecanum_drive.cpp)
target_link_libraries(gazebo_ros_mecanum_drive ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(gazebo_ros_mecanum_drive gazebo_mecanum_plugins_gencfg gazebo_mecanum_plugins_generate_messages_cpp)
add_library(gazebo_ros_mecanum_pid_drive SHARED src/gazebo_ros_mecanum_pid_drive.cpp src/gazebo_ros_mecanum_pid.cpp)
target_link_libraries(gazebo_ros_mecanum_pid_drive ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(gazebo_ros_mecanum_pid_drive gazebo_mecanum_plugins_gencfg gazebo_mecanum_plugins_generate_messages_cpp)
add_executable(gazebo_mecanum_plugin_pid src/gazebo_ros_mecanum_pid_param.cpp)
target_link_libraries(gazebo_mecanum_plugin_pid ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(gazebo_mecanum_plugin_pid gazebo_mecanum_plugins_gencfg gazebo_mecanum_plugins_generate_messages_cpp)
install(TARGETS
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)