CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(heatmap)

## 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
  message_generation
  visualization_msgs
  move_base_msgs
  actionlib
  geometry_msgs
  costmap_2d
)

find_package(Boost REQUIRED COMPONENTS system thread)

## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependencies might have been
##     pulled in transitively but can be declared for certainty nonetheless:
##     * add a build_depend tag for "message_generation"
##     * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_fg++ link lib nameiles sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
 add_message_files(
   FILES
   wifi_signal.msg
 )

## Generate services in the 'srv' folder
add_service_files(
   FILES
   signal_service.srv
   interpolation_service.srv
 )

## Generate actions in the 'action' folder
# add_action_files(
#   FILES
#   Action1.action
#   Action2.action
# )

## Generate added messages and services with any dependencies listed here
 generate_messages(
   DEPENDENCIES
   std_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 you 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 heatmap
  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime costmap_2d
)

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

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

link_directories(lib32 lib64)

## Declare a cpp library
# add_library(heatmap
#   src/${PROJECT_NAME}/heatmap.cpp
# )
## Declare a cpp executable
add_executable(signal src/signal.cpp)
add_executable(signal_sim src/signal_sim.cpp)
# add_executable(goal_measure src/goal_measure.cpp)
add_executable(heatmap_client src/heatmap_client.cpp)
add_executable(distance_measure src/distance_measure.cpp)

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
add_dependencies(signal heatmap_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(signal_sim heatmap_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
# add_dependencies(goal_measure heatmap_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(heatmap_client heatmap_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
add_dependencies(distance_measure heatmap_generate_messages_cpp ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(signal ${catkin_LIBRARIES})
target_link_libraries(signal :iwlib.so)
target_link_libraries(signal_sim ${catkin_LIBRARIES})
# target_link_libraries(goal_measure ${catkin_LIBRARIES})
target_link_libraries(heatmap_client ${catkin_LIBRARIES})
target_link_libraries(distance_measure ${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
  src/path_planner.py
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(DIRECTORY src/automow_planning/
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}/automow_planning
)

## Mark executables and/or libraries for installation
install(TARGETS signal signal_sim heatmap_client distance_measure
  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"
)

install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)

#install(DIRECTORY lib32/
#  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/lib32
#)

#install(DIRECTORY lib64/
#  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/lib64
#)

install(DIRECTORY move_base_config/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/move_base_config
)

install(DIRECTORY stage_config/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/stage_config
)

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

#############
## Testing ##
#############
if(CATKIN_ENABLE_TESTING)
  # Find package test dependencies
  find_package(rostest REQUIRED)
  find_package(gtest)
  # Add the test folder to the include directories
  include_directories(src/test)
  include_directories(${GTEST_INCLUDE_DIRS})
  link_directories(${GTEST_LIBRARY_DIRS})
  catkin_add_gtest(geometry_tools_tests src/test/geometry_tools_tests.cpp)
  target_link_libraries(geometry_tools_tests ${Boost_LIBRARIES})
endif()

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_heatmap.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)