cmake_minimum_required(VERSION 2.8.3)
project(homer_mapping)

find_package(
	catkin REQUIRED COMPONENTS
		roscpp
		homer_mapnav_msgs
		sensor_msgs
		nav_msgs
		homer_nav_libs
		tf
		roslib
)

set(CMAKE_BUILD_TYPE Release)


include_directories(
	${catkin_INCLUDE_DIRS}
	$ENV{HOMER_DIR}
)

catkin_package(
	CATKIN_DEPENDS
		roscpp
)

add_subdirectory(${PROJECT_SOURCE_DIR}/src/OccupancyMap)
add_subdirectory(${PROJECT_SOURCE_DIR}/src/ParticleFilter)

add_executable(homer_mapping src/slam_node.cpp)

target_link_libraries(
	homer_mapping
		${catkin_LIBRARIES}
		MappingMath
		ParticleFilter
		OccupancyMap
		Explorer
)

add_dependencies(
	homer_mapping
		${catkin_EXPORTED_TARGETS}
)