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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(auto_complete_graph)
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake_modules/")
#set(CMAKE_BUILD_TYPE debug)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
# ndt_feature
ndt_feature_finder
ndt_localization
# flirtlib_ros
ndt_map
roscpp
rospy
std_msgs
message_generation
occupancy_grid_utils
grid_map_core
grid_map_ros
grid_map_msgs
grid_map_cv
graph_map
graph_map_custom_msgs
message_generation
geometry_msgs
nav_msgs
std_msgs
)
set(CMAKE_CXX_STANDARD 11)
find_package(PCL REQUIRED)
add_definitions(${PCL_DEFINITIONS})
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS} include
)
# System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)
find_package(OpenCV REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED )
find_package(vodigrex REQUIRED )
add_subdirectory(cmake_modules)
find_package(G2O REQUIRED)
find_package(SUITESPARSE REQUIRED)
INCLUDE_DIRECTORIES(${CSPARSE_INCLUDE_DIR})
INCLUDE_DIRECTORIES(${G2O_INCLUDE_DIR})
include_directories(${vodigrex_INCLUDE_DIRS})
set(G2O_LIBS ${G2O_CORE_LIBRARY} ${G2O_SOLVER_CSPARSE} ${CSPARSE_LIBRARY} ${G2O_STUFF_LIBRARY} ${CHOLMOD_LIBRARY} ${G2O_SOLVER_CSPARSE_EXTENSION} ${G2O_SOLVER_SLAM2D_LINEAR} ${G2O_TYPES_SLAM2D})
# Generate messages in the 'msg' folder
add_message_files(
FILES
ACGMaps.msg
ACGMapsOM.msg
LocalizationMsg.msg
GraphMapLocalizationMsg.msg
)
generate_messages(
DEPENDENCIES
geometry_msgs std_msgs ndt_map grid_map_msgs auto_complete_graph #graph_map
graph_map_custom_msgs
)
add_subdirectory(src)
add_subdirectory(tests)
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${G2O_LIBS} ${vodigrex_LIBRARIES} auto_complete_graph_lib auto_complete_graph_vertexedges_lib auto_complete_graph_localization_lib
# LIBRARIES auto_complete_graph
CATKIN_DEPENDS message_runtime ndt_feature_finder ndt_map roscpp rospy std_msgs message_generation occupancy_grid_utils grid_map_core grid_map_ros grid_map_msgs grid_map_cv graph_map message_generation geometry_msgs std_msgs ndt_localization
graph_map_custom_msgs
DEPENDS EIGEN OpenCV Boost vodigrex
)