cmake_minimum_required(VERSION 2.8.3) project(tf2) find_package(console_bridge REQUIRED) find_package(catkin REQUIRED COMPONENTS geometry_msgs rostime tf2_msgs) find_package(Boost REQUIRED COMPONENTS signals system thread) catkin_package( INCLUDE_DIRS include LIBRARIES tf2 DEPENDS console_bridge CATKIN_DEPENDS geometry_msgs tf2_msgs rostime) include_directories (src/bt) include_directories(include ${catkin_INCLUDE_DIRS} ${console_bridge_INCLUDE_DIRS}) # export user definitions #CPP Libraries add_library(tf2 src/cache.cpp src/buffer_core.cpp src/static_cache.cpp) target_link_libraries(tf2 ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${console_bridge_LIBRARIES}) set_target_properties(tf2 PROPERTIES VERSION ${tf2_VERSION} SOVERSION "1d") add_dependencies(tf2 ${catkin_EXPORTED_TARGETS}) install(TARGETS tf2 ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} ) # Tests if(CATKIN_ENABLE_TESTING) catkin_add_gtest(test_cache_unittest test/cache_unittest.cpp) target_link_libraries(test_cache_unittest tf2 ${console_bridge_LIBRARIES}) add_dependencies(test_cache_unittest ${catkin_EXPORTED_TARGETS}) catkin_add_gtest(test_static_cache_unittest test/static_cache_test.cpp) target_link_libraries(test_static_cache_unittest tf2 ${console_bridge_LIBRARIES}) add_dependencies(test_static_cache_unittest ${catkin_EXPORTED_TARGETS}) catkin_add_gtest(test_simple test/simple_tf2_core.cpp) target_link_libraries(test_simple tf2 ${console_bridge_LIBRARIES}) add_dependencies(test_simple ${catkin_EXPORTED_TARGETS}) add_executable(speed_test EXCLUDE_FROM_ALL test/speed_test.cpp) target_link_libraries(speed_test tf2 ${console_bridge_LIBRARIES}) add_dependencies(tests speed_test) add_dependencies(tests ${catkin_EXPORTED_TARGETS}) endif()