CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(autonomous_bicycle)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++1y")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")

find_package(catkin REQUIRED COMPONENTS
        roscpp
        rospy
        std_msgs
        geometry_msgs
        sensor_msgs
        tf
        nav_msgs
        visualization_msgs
        gazebo_ros
        dynamic_reconfigure
        message_generation
        )

add_service_files(
        DIRECTORY srv
        FILES
        record_msg.srv
        status_msg.srv
        calibration_msg.srv
        turn_off_msg.srv
)

generate_dynamic_reconfigure_options(cfg/bicycle_interaction.cfg
        cfg/pose_estimation_interaction.cfg
        )

add_message_files(
        DIRECTORY msg
        FILES
        EKF_variables.msg
        bicycle_state.msg
        calibration_status.msg
)

generate_messages(DEPENDENCIES std_msgs)

catkin_package(DEPENDS CATKIN DEPENDS dynamic_reconfigure message_runtime std_msgs )

# Depend on system install of Gazebo
find_package(gazebo REQUIRED)

catkin_package(
        INCLUDE_DIRS include
        LIBRARIES autonomous_bicycle
        CATKIN_DEPENDS roscpp rospy std_msgs geometry_msgs sensor_msgs message_runtime
        #  DEPENDS system_lib
)

include_directories(
        include
        ${catkin_INCLUDE_DIRS}
)

set(EXECUTABLE_OUTPUT_PATH  ${PROJECT_SOURCE_DIR}/bin)
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib )

link_directories(${GAZEBO_LIBRARY_DIRS})
include_directories(${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS})

add_library(bicycle_interaction src/gazebo_plugins/bicycle_interaction.cpp)
target_link_libraries(bicycle_interaction gazebo_ros_utils ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})

add_library(link_odometry src/gazebo_plugins/link_odometry.cpp)
target_link_libraries(link_odometry gazebo_ros_utils ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES} ${Boost_LIBRARIES})

add_library(gazebo_ros_utils src/gazebo_plugins/gazebo_ros_utils.cpp)
target_link_libraries(gazebo_ros_utils ${GAZEBO_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})

add_executable(OdometryUtmToLocal src/OdometryUtmToLocal.cpp)
target_link_libraries(OdometryUtmToLocal ${Boost_LIBRARIES}  ${catkin_LIBRARIES})

install(TARGETS ${EXECUTABLE_NAME} DESTINATION bin)

install(DIRECTORY include/${PROJECT_NAME}/
        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
        FILES_MATCHING PATTERN "*.h"
        )

install(DIRECTORY launch
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
        )

SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)