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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(follow_beacon)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
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()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(OpenCV REQUIRED)
find_package(cv_bridge REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
pkg_search_module(ZBAR REQUIRED zbar)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
find_package(OpenCV REQUIRED)
find_package(cv_bridge REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
#set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
#set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
include_directories(
${OpenCV_INCLUDE_DIRS}
# include
# ${GAZEBO_INCLUDE_DIRS}
)
set(EXEC_COLOR_FILTER_NAME "image_color_filter")
set(EXEC_OP_NAME "operator_image")
set(EXEC_SINK_NAME "sink_motors")
set(EXEC_CAM_PUBLISHER_NAME "camera_image_pub")
set(EXEC_QR_CODE_DETECTOR_NAME "qr_code_detector")
set(EXEC_QR_CODE_DETECTOR_ZBAR_NAME "qr_code_detector_zbar")
set(dependencies
"std_msgs"
"sensor_msgs"
"geometry_msgs"
"rclcpp"
"OpenCV"
"cv_bridge"
)
add_executable(${EXEC_COLOR_FILTER_NAME} src/image_color_filter.cpp)
ament_target_dependencies(${EXEC_COLOR_FILTER_NAME} ${dependencies})
target_include_directories(${EXEC_COLOR_FILTER_NAME} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(${EXEC_COLOR_FILTER_NAME}
${OpenCV_LIBRARIES})
add_executable(${EXEC_OP_NAME} src/operator_image.cpp)
ament_target_dependencies(${EXEC_OP_NAME} ${dependencies})
target_include_directories(${EXEC_OP_NAME} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(${EXEC_OP_NAME}
${OpenCV_LIBRARIES})
add_executable(${EXEC_SINK_NAME} src/sink_motors.cpp)
ament_target_dependencies(${EXEC_SINK_NAME} ${dependencies})
target_include_directories(${EXEC_SINK_NAME} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
add_executable(${EXEC_CAM_PUBLISHER_NAME} src/camera_image_pub.cpp)
ament_target_dependencies(${EXEC_CAM_PUBLISHER_NAME} ${dependencies})
target_include_directories(${EXEC_CAM_PUBLISHER_NAME} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(${EXEC_CAM_PUBLISHER_NAME}
${OpenCV_LIBRARIES})
add_executable(${EXEC_QR_CODE_DETECTOR_NAME} src/qr_code_detector.cpp)
ament_target_dependencies(${EXEC_QR_CODE_DETECTOR_NAME} ${dependencies})
target_include_directories(${EXEC_QR_CODE_DETECTOR_NAME} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(${EXEC_QR_CODE_DETECTOR_NAME}
${OpenCV_LIBRARIES})
add_executable(${EXEC_QR_CODE_DETECTOR_ZBAR_NAME} src/qr_code_detector_zbar.cpp)
ament_target_dependencies(${EXEC_QR_CODE_DETECTOR_ZBAR_NAME} ${dependencies})
target_include_directories(${EXEC_QR_CODE_DETECTOR_ZBAR_NAME} PUBLIC
${ZBAR_INCLUDE_DIRS}
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_directories(${EXEC_QR_CODE_DETECTOR_ZBAR_NAME} PUBLIC
${ZBAR_LIBRARY_DIRS})
target_link_libraries(${EXEC_QR_CODE_DETECTOR_ZBAR_NAME}
${ZBAR_LIBRARIES}
${OpenCV_LIBRARIES})
install(TARGETS
${EXEC_COLOR_FILTER_NAME}
${EXEC_OP_NAME}
${EXEC_SINK_NAME}
${EXEC_CAM_PUBLISHER_NAME}
${EXEC_QR_CODE_DETECTOR_NAME}
${EXEC_QR_CODE_DETECTOR_ZBAR_NAME}
DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY include/
DESTINATION include/
)
#install(DIRECTORY
# launch/
# DESTINATION share/${PROJECT_NAME}
#)
install(DIRECTORY
config/
DESTINATION share/${PROJECT_NAME}
)
ament_package()