CMakeLists.txt

#****************************************************************************
# *   Copyright (c) 2017 Sarah Gibson. All rights reserved.
# *
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# * modification, are permitted provided that the following conditions
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# *  distribution.
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# *  used to endorse or promote products derived from this software
# *  without specific prior written permission.
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# ****************************************************************************/

cmake_minimum_required(VERSION 2.8.3)
project(snap_dfs)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  tf2
  tf2_ros
  nodelet
  sensor_msgs
)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -v -pthread -fPIC")

if(NOT DEFINED MV_INCLUDE)
    set(MV_INCLUDE "/usr/include")
endif()
if(NOT DEFINED MV_LIB)
    set(MV_LIB "/usr/lib")
endif()
message(STATUS "MV_INCLUDE: ${MV_INCLUDE}")
message(STATUS "MV_LIB: ${MV_LIB}")

link_directories(
    ${MV_LIB}
)

catkin_package(
  CATKIN_DEPENDS roscpp nodelet sensor_msgs
  LIBRARIES snap_dfs_nodelet
)

include_directories(
   ${catkin_INCLUDE_DIRS}
   ${MV_INCLUDE}
)

add_library(snap_dfs
  src/dfs/SnapdragonDfsManager.cpp
)
target_include_directories(snap_dfs PUBLIC
  src/dfs
  ${MV_INCLUDE}/mv/
)
target_link_libraries(snap_dfs
  mv1
)

add_library(snap_dfs_nodelet src/nodes/SnapdragonDfsRos_nodelet.cpp src/nodes/SnapdragonDfsRos.cpp)
target_link_libraries(snap_dfs_nodelet
  snap_dfs
  ${catkin_LIBRARIES}
)
target_include_directories( snap_dfs_nodelet PRIVATE src/nodes/ )

add_executable(snap_dfs_node src/nodes/SnapdragonDfsRos_node.cpp src/nodes/SnapdragonDfsRos.cpp)
target_link_libraries(snap_dfs_node
  snap_dfs
  ${catkin_LIBRARIES}
)
target_include_directories( snap_dfs_node PRIVATE src/nodes/ )

add_custom_command(
TARGET snap_dfs_node
COMMAND echo "Setting the UID bit for the node to run with root privileges"
COMMAND sudo chown root ${CATKIN_DEVEL_PREFIX}/lib/snap_dfs/snap_dfs_node
COMMAND sudo chmod +s ${CATKIN_DEVEL_PREFIX}/lib/snap_dfs/snap_dfs_node
)

install(TARGETS snap_dfs_node snap_dfs snap_dfs_nodelet
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)

install(DIRECTORY config/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
)
install(FILES snap_dfs_nodelet.xml
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)