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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(r1_laser_filter)
set(CMAKE_CXX_STANDARD 11)
##############################################################################
# Find dependencies
##############################################################################
set(THIS_PACKAGE_ROS_DEPS sensor_msgs roscpp tf filters message_filters
laser_geometry pluginlib angles dynamic_reconfigure)
find_package(catkin REQUIRED COMPONENTS ${THIS_PACKAGE_ROS_DEPS})
find_package(Boost REQUIRED COMPONENTS system)
include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
##############################################################################
# Define package
##############################################################################
# dynamic reconfigure
generate_dynamic_reconfigure_options(
cfg/SpeckleFilter.cfg
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES laser_scan_filter
CATKIN_DEPENDS ${THIS_PACKAGE_ROS_DEPS}
DEPENDS
)
##############################################################################
# Build
##############################################################################
add_library(laser_scan_filter
src/laser_scan_filter.cpp
src/speckle_filter.cpp
)
target_link_libraries(laser_scan_filter ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_dependencies(laser_scan_filter ${PROJECT_NAME}_gencfg)
##############################################################################
# Install
##############################################################################
# Install headers
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(FILES laser_filter_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)