CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)

project(snavquad_interface)

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

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_CURRENT_SOURCE_DIR}/cmake/")

find_package(catkin REQUIRED
  roscpp
  kr_mav_msgs
  nav_msgs
  nodelet
  tf_conversions
  cv_bridge
  snap_msgs
  image_transport
)

catkin_package(
  INCLUDE_DIRS
  CATKIN_DEPENDS roscpp kr_mav_msgs nav_msgs nodelet tf_conversions
  DEPENDS
  LIBRARIES
)

include_directories(${catkin_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})

find_package(Snav)
if(NOT ${Snav_FOUND})
  message(WARNING "NOTE: snav not found so not building snavquad_interface")
else()
  include_directories(${Snav_INCLUDE_DIR})
  include_directories(${catkin_INCLUDE_DIRS} ${EIGEN_INCLUDE_DIR})

#   add_executable(posNode src/posNode.cpp)
#   target_link_libraries(posNode ${catkin_LIBRARIES} ${Snav_LIBRARY})

#   add_executable(vioOdom src/vioOdom.cpp)
#   target_link_libraries(vioOdom ${catkin_LIBRARIES} ${Snav_LIBRARY})

#   add_library(so3cmd_to_snav_nodelet src/so3cmd_to_snav_nodelet.cpp)
#   add_dependencies(so3cmd_to_snav_nodelet ${catkin_EXPORTED_TARGETS})
#   target_link_libraries(so3cmd_to_snav_nodelet ${catkin_LIBRARIES} ${Snav_LIBRARY})

#   add_library(trpycmd_to_snav_nodelet src/trpycmd_to_snav_nodelet.cpp)
#   add_dependencies(trpycmd_to_snav_nodelet ${catkin_EXPORTED_TARGETS})
#   target_link_libraries(trpycmd_to_snav_nodelet ${catkin_LIBRARIES} ${Snav_LIBRARY})

  #install(TARGETS posNode vioOdom so3cmd_to_snav_nodelet trpycmd_to_snav_nodelet
  #  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  #  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  #  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  #)

  #install(FILES nodelet_plugin.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

endif()

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

add_executable(point_overlay src/point_overlay.cpp)
target_link_libraries(point_overlay ${OpenCV_LIBS} ${catkin_LIBRARIES})

install(TARGETS tf_pub point_overlay
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY scripts/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts USE_SOURCE_PERMISSIONS)
install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)