CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(bebop_vel_ctrl)

find_package(catkin REQUIRED COMPONENTS
  std_msgs
  bebop_msgs
  control_toolbox
  roscpp
  geometry_msgs
  angles
  message_filters
  message_generation
)

# find_package(Boost REQUIRED COMPONENTS system)

# catkin_python_setup()

add_message_files(
  FILES
  Debug.msg
)

generate_messages(
  DEPENDENCIES
  std_msgs
  geometry_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

catkin_package(
   INCLUDE_DIRS include
   LIBRARIES bebop_vel_model
   CATKIN_DEPENDS bebop_msgs control_toolbox roscpp geometry_msgs angles message_runtime std_msgs
#  DEPENDS system_lib
)

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

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

# Declare a C++ library
add_library(bebop_vel_model
  src/bebop_vel_model.cpp
)

# bebop_vel_mode library does not have any ros dependency,
# We can safely remove the following two macro calls
target_link_libraries(bebop_vel_model
   ${catkin_LIBRARIES}
)

add_dependencies(bebop_vel_model ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

add_executable(bebop_vel_ctrl_node src/bebop_vel_ctrl.cpp src/bebop_vel_ctrl_node.cpp)

add_dependencies(bebop_vel_ctrl_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

# Specify libraries to link a library or executable target against
target_link_libraries(bebop_vel_ctrl_node
  bebop_vel_model
  ${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
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS bebop_vel_ctrl bebop_vel_ctrl_node
#   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 "*.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_bebop_vel_ctrl.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()