CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(poppin_fetch)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  actionlib
  control_msgs
  geometry_msgs
  trajectory_msgs

)


###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES poppin_fetch
  CATKIN_DEPENDS roscpp rospy std_msgs actionlib control_msgs geometry_msgs trajectory_msgs
  #DEPENDS system_lib
)

###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
# add_library(${PROJECT_NAME}
#   src/${PROJECT_NAME}/poppin_fetch.cpp
# )

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/joint_state_printer.cpp)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
#target_link_libraries(${PROJECT_NAME}_node
  #joint_state_printer
  #${catkin_LIBRARIES}
#)

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_poppin_fetch.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

## Executable for joint state printer
add_executable(joint_state_printer
  src/joint_state_printer.cpp
)
target_link_libraries(joint_state_printer
  ${catkin_LIBRARIES}
)

## Executable for La Chona dance
add_executable(la_chona_dance
  src/la_chona_dance.cpp
  src/PointHeadClient.cpp
  src/Footwork.cpp
  src/FollowTrajectoryClient.cpp
  src/GripperClient.cpp
)
target_link_libraries(la_chona_dance
  ${catkin_LIBRARIES}
)


## Executable for bhangra dance
add_executable(bhangra_dance
  src/bhangra_dance.cpp
  src/PointHeadClient.cpp
  src/Footwork.cpp
  src/FollowTrajectoryClient.cpp
  src/GripperClient.cpp
)
target_link_libraries(bhangra_dance
  ${catkin_LIBRARIES}
)

## Executable for is it true dance
add_executable(is_it_true_dance
  src/is_it_true_dance.cpp
  src/PointHeadClient.cpp
  src/Footwork.cpp
  src/FollowTrajectoryClient.cpp
  src/GripperClient.cpp
)
target_link_libraries(is_it_true_dance
  ${catkin_LIBRARIES}
)

## Executable for ante up dance
add_executable(ante_up_dance
  src/ante_up_dance.cpp
  src/PointHeadClient.cpp
  src/Footwork.cpp
  src/FollowTrajectoryClient.cpp
  src/GripperClient.cpp
)
target_link_libraries(ante_up_dance
  ${catkin_LIBRARIES}
)