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cmake_minimum_required(VERSION 2.8.3)
project(nodelet)
## Find catkin dependencies
find_package(catkin REQUIRED bondcpp cmake_modules message_generation pluginlib rosconsole roscpp std_msgs)
## Find Boost (only headers)
find_package(Boost REQUIRED)
## Find UUID libraries
find_package(UUID REQUIRED)
## Add service files to be generated
add_service_files(DIRECTORY srv FILES NodeletList.srv NodeletLoad.srv NodeletUnload.srv)
## Generate servics
generate_messages(DEPENDENCIES std_msgs)
catkin_package(
INCLUDE_DIRS include ${UUID_INCLUDE_DIRS}
LIBRARIES nodeletlib ${UUID_LIBRARIES}
CATKIN_DEPENDS bondcpp message_runtime pluginlib rosconsole roscpp std_msgs
DEPENDS Boost
)
include_directories(include ${catkin_INCLUDE_DIRS} ${BOOST_INCLUDE_DIRS})
# Debug only, collects stats on how callbacks are doled out to worker threads
#add_definitions(-DNODELET_QUEUE_DEBUG)
add_library(nodeletlib src/nodelet_class.cpp src/loader.cpp src/callback_queue.cpp src/callback_queue_manager.cpp)
target_link_libraries(nodeletlib ${catkin_LIBRARIES} ${BOOST_LIBRARIES})
add_dependencies(nodeletlib ${nodelet_EXPORTED_TARGETS})
set_target_properties(nodeletlib PROPERTIES VERSION ${nodelet_VERSION} SOVERSION "0d")
add_executable(nodelet src/nodelet.cpp)
target_link_libraries(nodelet nodeletlib ${UUID_LIBRARIES} ${catkin_LIBRARIES} ${BOOST_LIBRARIES})
# install
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
install(TARGETS nodeletlib
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
install(TARGETS nodelet
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
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