CMakeLists.txt

cmake_minimum_required(VERSION 3.10)
project(hero_chassis_controller)

## Use C++14
# set(CMAKE_CXX_STANDARD 14)
# set(CMAKE_CXX_STANDARD_REQUIRED ON)

## By adding -Wall and -Werror, the compiler does not ignore warnings anymore,
## enforcing cleaner code.
# add_definitions(-Wall -Werror)

## Find catkin macros and libraries
find_package(catkin REQUIRED
    COMPONENTS
    roscpp
    sensor_msgs
    roslint
    controller_interface
    hardware_interface
    forward_command_controller
    pluginlib
    roslint
    geometry_msgs
    control_msgs
    realtime_tools
    tf
    nav_msgs   
    control_toolbox
    )


###################################
## 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
    ## This is only necessary because Eigen3 sets a non-standard EIGEN3_INCLUDE_DIR variable
    LIBRARIES
    CATKIN_DEPENDS
    roscpp
    sensor_msgs
    roslint
    controller_interface
    hardware_interface
    forward_command_controller
    pluginlib
    roslint
    geometry_msgs
    control_msgs
    realtime_tools
    tf
    nav_msgs   
    control_toolbox
    DEPENDS

    ## find_package(Eigen3) provides a non standard EIGEN3_INCLUDE_DIR instead of Eigen3_INCLUDE_DIRS.
    ## Therefore, the DEPEND does not work as expected and we need to add the directory to the INCLUDE_DIRS
    # Eigen3

    ## Boost is not part of the DEPENDS since it is only used in source files,
    ## Dependees do not depend on Boost when they depend on this package.
)

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

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

## Declare a cpp library
add_library(chassis_controller
    include/chassis_controller.h
    src/chassis_controller.cpp
    )
## Declare cpp executables
# add_executable(${PROJECT_NAME} src/main_chassis_controller.cpp)


## Add dependencies to exported targets, like ROS msgs or srvs
add_dependencies(chassis_controller ${catkin_EXPORTED_TARGETS})
# add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link executable targets against
target_link_libraries(chassis_controller
    ${catkin_LIBRARIES}
    )

# target_link_libraries(${PROJECT_NAME}
#     ${PROJECT_NAME}_core
#     ${catkin_LIBRARIES}
#     )

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

# Mark executables and/or libraries for installation
# install(
#     TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_core
#     ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#     LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#     RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

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

# Mark other files for installation
# install(
#     DIRECTORY doc
#     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

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

# if (${CATKIN_ENABLE_TESTING})
#   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
#   ## Add gtest based cpp test target and link libraries
#   catkin_add_gtest(${PROJECT_NAME}-test
#       test/test_ros_package_template.cpp
#       test/AlgorithmTest.cpp)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}_core)
# endif ()

##########################
## Static code analysis ##
##########################

roslint_cpp()