CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(royale_ros)


set(ROYALE_ROOT "/opt/royale" CACHE STRING "Root directory to Royale SDK")

find_package(royale
  PATHS ${ROYALE_ROOT}/share
  )
find_package(Boost REQUIRED)

if(royale_FOUND)

  MESSAGE(STATUS "ROYALE_ROOT: " ${ROYALE_ROOT})
  MESSAGE(STATUS "royale_LIB_DIR: " ${royale_LIB_DIR})
  MESSAGE(STATUS "royale_LIBS: " ${royale_LIBS})

  find_package(catkin REQUIRED COMPONENTS
    nodelet
    roscpp
    message_generation
    message_runtime
    cv_bridge
    image_transport
    pcl_ros
    sensor_msgs
    tf2_ros
    )

  #######################################
  ## Declare ROS messages and services ##
  #######################################
  add_service_files(
    FILES
    Dump.srv
    Config.srv
    Start.srv
    Stop.srv
    )

  add_message_files(
    FILES
    ExposureTimes.msg
    SetExposureTime.msg
    SetExposureTimes.msg
    )

  generate_messages(
    DEPENDENCIES
    std_msgs
    )

  ###################################
  ## catkin specific configuration ##
  ###################################
  catkin_add_env_hooks(royale_env SHELLS sh)

  catkin_package(
    INCLUDE_DIRS include
    LIBRARIES royale_ros
    CATKIN_DEPENDS roscpp nodelet
    )

  #############
  ##  Build  ##
  #############
  # getting ugly warning coming out of ros/time.h, silence them for now
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-conversion -std=c++14")

  include_directories(
    include
    ${ROYALE_ROOT}/include
    ${Boost_INCLUDE_DIRS}
    ${catkin_INCLUDE_DIRS}
    )
  link_directories(
    ${royale_LIB_DIR}
    )

  add_library(royale_ros src/camera_nodelet.cpp)
  target_link_libraries(royale_ros
    ${catkin_LIBRARIES}
    ${royale_LIBS}
    )
  add_dependencies(royale_ros ${PROJECT_NAME}_generate_messages_cpp)

  add_executable(lscam src/lscam.cpp)
  target_link_libraries(lscam
    ${royale_LIBS}
    )
  add_dependencies(lscam ${PROJECT_NAME}_generate_messages_cpp)

  add_executable(config src/config.cpp)
  target_link_libraries(config
    ${catkin_LIBRARIES}
    )
  add_dependencies(config ${PROJECT_NAME}_generate_messages_cpp)

  add_executable(dump src/dump.cpp)
  target_link_libraries(dump
    ${catkin_LIBRARIES}
    )
  add_dependencies(dump ${PROJECT_NAME}_generate_messages_cpp)

  #############
  ## Install ##
  #############

  install(TARGETS
    royale_ros
    config
    dump
    lscam
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    )

  install(DIRECTORY
    include/${PROJECT_NAME}/
    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
    )

  install(FILES nodelets.xml
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
    )

  install(DIRECTORY launch
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
    )

  ######################
  ## Node-level tests ##
  ######################

endif()