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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(realsense_sp)
# Save the command line compile commands in the build output
set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
# View the makefile commands during build
set(CMAKE_VERBOSE_MAKEFILE on)
# Set compile flags
set(CMAKE_CXX_FLAGS "-fPIE -fPIC -std=c++11 -O2 -D_FORTIFY_SOURCE=2 -fstack-protector-strong -Wformat -Wformat-security -Wall ${CMAKE_CXX_FLAGS}")
# Flags executables
set(CMAKE_EXE_LINKER_FLAGS "-pie -z noexecstack -z relro -z now")
# Flags shared libraries
set(CMAKE_SHARED_LINKER_FLAGS "-z noexecstack -z relro -z now")
# OpenCV used for producing detection image frames.
find_package(OpenCV REQUIRED)
# Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
nodelet
dynamic_reconfigure
cv_bridge
message_filters
std_msgs
sensor_msgs
geometry_msgs
message_generation
rostest
realsense_camera
tf
)
add_message_files(
FILES
Status.msg
)
add_service_files(
FILES
Reset.srv
)
generate_messages(
DEPENDENCIES
std_msgs
sensor_msgs
geometry_msgs
)
###################################
## catkin specific configuration ##
###################################
catkin_package(
INCLUDE_DIRS
CATKIN_DEPENDS std_msgs sensor_msgs geometry_msgs message_runtime
LIBRARIES ${PROJECT_NAME}_nodelet
)
###########
## Build ##
###########
# Specify additional locations of header files
include_directories(
${catkin_INCLUDE_DIRS}
)
# Declare a C++ library
add_library(${PROJECT_NAME}_nodelet
src/realsense_sp_nodelet.cpp
)
target_link_libraries(${PROJECT_NAME}_nodelet
realsense
realsense_image
realsense_slam
SP_Core
tracker
${catkin_LIBRARIES}
${OpenCV_LIBS}
)
add_dependencies(${PROJECT_NAME}_nodelet
${catkin_EXPORTED_TARGETS}
${${PROJECT_NAME}_EXPORTED_TARGETS}
${PROJECT_NAME}_generate_messages_cpp
)
#############
## Install ##
#############
# Install nodelet library
install(TARGETS ${PROJECT_NAME}_nodelet
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
# Install header files
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
# Install launch files
install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)
# Install xml files
install(FILES nodelet_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)