CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(clcbs_ros)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

## 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
  dynamic_reconfigure
  roscpp
  rospy
  std_msgs
  message_generation
  geometry_msgs
)

find_package(Boost 1.58 REQUIRED COMPONENTS program_options)
find_package(PkgConfig)
pkg_check_modules(YamlCpp yaml-cpp)

find_package(OMPL REQUIRED)

add_message_files(
  FILES
  GoalPoseArray.msg
)

generate_messages(
  DEPENDENCIES
  std_msgs
  geometry_msgs
)

catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS
    roscpp
    rospy
    std_msgs
    tf2
    visualization_msgs
    message_runtime
)

include_directories(include
  ${catkin_INCLUDE_DIRS}
  ${OMPL_INCLUDE_DIRS}
  ${Boost_LIBRARIES}
)

add_executable(clcbs_node src/clcbs_node.cpp include/clcbs_ros/clcbs_node.hpp)
target_link_libraries(clcbs_node ${catkin_LIBRARIES} ${OMPL_LIBRARIES})
add_dependencies(clcbs_node ${PROJECT_NAME}_generate_messages_cpp)

catkin_install_python(PROGRAMS
  src/init_clcbs.py
  src/init_deadlock.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.hpp"
)

install(TARGETS clcbs_node
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)

install(DIRECTORY launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)