CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()
project(laser_scan_merger)

# set(CMAKE_CXX_FLAGS "-std=c++11 -fpermissive ${CMAKE_CXX_FLAGS} -Wfatal-errors\ ")

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_sensor_msgs REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(laser_geometry REQUIRED)
find_package(builtin_interfaces REQUIRED)

find_package(Boost 1.54.0 REQUIRED system)


set(PROJECT_INCLUDE_DIRS include)
set(PROJECT_DEPENDS "rclcpp" "std_msgs" "std_srvs" "tf2_sensor_msgs" "geometry_msgs" 
    "sensor_msgs" "tf2" "tf2_geometry_msgs" "tf2_ros" "laser_geometry")

include_directories(include ${PROJECT_INCLUDE_DIRS} ${ARMADILLO_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})


# Build libs
add_library(scans_merger src/scans_merger.cpp)
target_link_libraries(scans_merger ${ARMADILLO_LIBRARIES})
ament_target_dependencies(scans_merger ${PROJECT_DEPENDS})

# Build nodes
add_executable(scans_merger_node src/nodes/scans_merger_node.cpp)
target_link_libraries(scans_merger_node scans_merger)

install(TARGETS scans_merger
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)

#
# Install nodes
#
# install(TARGETS scans_merger_node obstacle_extractor_node obstacle_tracker_node obstacle_publisher_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(TARGETS scans_merger_node scans_merger_node
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)

## Mark other files for installation (e.g. launch and bag files, etc.)
install(
  DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}/
)

ament_package()