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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(filters)
##############################################################################
# Find dependencies
##############################################################################
find_package(catkin REQUIRED COMPONENTS pluginlib roslib roscpp rosconsole)
find_package(Boost COMPONENTS system filesystem thread REQUIRED)
include_directories(
include
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
)
##############################################################################
# Define package
##############################################################################
catkin_package(
INCLUDE_DIRS include
LIBRARIES mean params increment median transfer_function
CATKIN_DEPENDS roslib roscpp rosconsole pluginlib
)
##############################################################################
# Build
##############################################################################
# Plugins
add_library(mean src/mean.cpp)
target_link_libraries(mean ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_library(params src/test_params.cpp)
target_link_libraries(params ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_library(increment src/increment.cpp)
target_link_libraries(increment ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_library(median src/median.cpp)
target_link_libraries(median ${catkin_LIBRARIES} ${Boost_LIBRARIES})
add_library(transfer_function src/transfer_function.cpp)
target_link_libraries(transfer_function ${catkin_LIBRARIES} ${Boost_LIBRARIES})
if(CATKIN_ENABLE_TESTING)
find_package(rostest)
# Test median filter
add_executable(median_test EXCLUDE_FROM_ALL test/test_median.cpp )
target_link_libraries(median_test median ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${GTEST_LIBRARIES})
add_rostest(test/test_median.launch)
# Test transfer function filter
add_executable(transfer_function_test EXCLUDE_FROM_ALL test/test_transfer_function.cpp)
target_link_libraries(transfer_function_test transfer_function ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${GTEST_LIBRARIES})
add_rostest(test/test_transfer_function.launch)
# Test mean filter
add_executable(mean_test EXCLUDE_FROM_ALL test/test_mean.cpp)
target_link_libraries(mean_test mean ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${GTEST_LIBRARIES})
add_rostest(test/test_mean.launch)
# Test params filter
add_executable(params_test EXCLUDE_FROM_ALL test/test_params.cpp)
target_link_libraries(params_test params ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${GTEST_LIBRARIES})
add_rostest(test/test_params.launch)
# Test plugin loading into filter chain
add_executable(chain_test EXCLUDE_FROM_ALL test/test_chain.cpp)
target_link_libraries(chain_test increment ${Boost_libraries} ${catkin_LIBRARIES} ${GTEST_LIBRARIES}) # Needed for OSX
add_rostest(test/test_chain.launch)
# Test realtime safe buffer class
catkin_add_gtest(realtime_buffer_test EXCLUDE_FROM_ALL test/test_realtime_circular_buffer.cpp)
endif()
##############################################################################
# Install
##############################################################################
# Install libraries
install(TARGETS mean params increment median transfer_function
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# Install headers
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
# Install plugins xml file
install(FILES default_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
if(CATKIN_ENABLE_TESTING)
if(TARGET tests)
add_dependencies(tests median_test transfer_function_test mean_test params_test chain_test)
endif()
endif()