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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(champ_gazebo)
add_compile_options(-std=c++11)
find_package(gazebo REQUIRED)
find_package(catkin
REQUIRED
COMPONENTS
roscpp
urdf
champ
champ_msgs
)
catkin_package(
CATKIN_DEPENDS
roscpp
)
install(PROGRAMS
scripts/imu_sensor.py
scripts/odometry_tf.py
scripts/odometry.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
include_directories(
include
${champ_INCLUDE_DIRS}
${champ_INCLUDE_DIRS}/champ/
${champ_INCLUDE_DIRS}/champ/champ/
${catkin_INCLUDE_DIRS}
${GAZEBO_INCLUDE_DIRS}
)
link_directories(${GAZEBO_LIBRARY_DIRS} ${catkin_LIBRARIES})
list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}")
add_executable(contact_sensor src/contact_sensor.cpp)
target_link_libraries(contact_sensor ${GAZEBO_LIBRARIES} pthread ${catkin_LIBRARIES} )
add_dependencies(contact_sensor ${catkin_EXPORTED_TARGETS})
install(TARGETS
contact_sensor
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY launch config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY worlds/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/worlds
)