CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(ar_por)

## Add support for C++11, supported in ROS Kinetic and newer
#add_definitions(-std=c++11)

## 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
  roscpp
  roslib
  descartes_core
  descartes_moveit
  descartes_trajectory
  descartes_planner
  geometry_msgs
  trajectory_msgs
  visualization_msgs
  eigen_conversions
  tf
  ur_descartes
)
find_package(Eigen REQUIRED)
## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)

###################################
## 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 descartes_core descartes_moveit descartes_planner
  CATKIN_DEPENDS descartes_core descartes_moveit descartes_planner geometry_msgs roscpp tf trajectory_msgs visualization_msgs descartes_trajectory
#  DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  ${catkin_INCLUDE_DIRS}
  ${Eigen_INCLUDE_DIRS}
  include
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/ar_por.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
 add_executable(${PROJECT_NAME}_arm src/Alfa.cpp src/ar_por_arm.cpp)
 add_executable(${PROJECT_NAME}_arm_graph src/Alfa.cpp src/ar_por_arm_graph.cpp)
 add_executable(${PROJECT_NAME}_arm_srv_client src/Alfa.cpp src/ar_por_arm_srv_client.cpp)

## Add cmake target dependencies of the executable
## same as for the library above
 add_dependencies(${PROJECT_NAME}_arm ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 add_dependencies(${PROJECT_NAME}_arm_graph ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 add_dependencies(${PROJECT_NAME}_arm_srv_client ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})


## Specify libraries to link a library or executable target against
 target_link_libraries(${PROJECT_NAME}_arm ${catkin_LIBRARIES})
 target_link_libraries(${PROJECT_NAME}_arm_graph ${catkin_LIBRARIES})
 target_link_libraries(${PROJECT_NAME}_arm_srv_client ${catkin_LIBRARIES})

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
 set_target_properties(${PROJECT_NAME}_arm PROPERTIES OUTPUT_NAME arm_irb120 PREFIX "")
 set_target_properties(${PROJECT_NAME}_arm_graph PROPERTIES OUTPUT_NAME arm_irb120_graph PREFIX "")
 set_target_properties(${PROJECT_NAME}_arm_graph PROPERTIES OUTPUT_NAME arm_irb120_srv_client PREFIX "")

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

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ar_por.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)