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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
)
find_package(OpenMP)
if (OPENMP_FOUND)
set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
endif()
find_package(tf REQUIRED)
set(CMAKE_BUILD_TYPE Release)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS
roscpp
homer_mapnav_msgs
homer_nav_libs
nav_msgs
tf
roslib
LIBRARIES homerOccupancyMap homerParticleFilter
)
add_library(homerOccupancyMap
src/OccupancyMap/OccupancyMap.cpp
)
target_link_libraries(
homerOccupancyMap
${catkin_LIBRARIES}
${tf_LIBRARIES}
)
set(
ParticleFilter_SRC
src/ParticleFilter/HyperSlamFilter.cpp
src/ParticleFilter/SlamParticle.cpp
src/ParticleFilter/SlamFilter.cpp
src/ParticleFilter/Particle.cpp
)
add_library(
homerParticleFilter
${ParticleFilter_SRC}
)
target_link_libraries(
homerParticleFilter
${catkin_LIBRARIES}
)
add_executable(homer_mapping src/slam_node.cpp)
target_link_libraries(
homer_mapping
${catkin_LIBRARIES}
homerParticleFilter
homerOccupancyMap
)
add_dependencies(
homer_mapping
${catkin_EXPORTED_TARGETS}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
install(TARGETS homerOccupancyMap homerParticleFilter homer_mapping
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)