CMakeLists.txt

cmake_minimum_required(VERSION 3.10.2)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Werror -O -g")

project(positioning_systems_ros)

option(BUILD_EXAMPLES "Build short example binaries" ON)

## 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
  geometry_msgs
  message_generation
  tf2_ros
)
find_package(positioning_systems_api REQUIRED)

## 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 tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_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_*_files 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
  PolarPoint2D.msg
  FollowMeDriverConfig.msg
  FollowMeDriverRS485Config.msg
  FollowMeRemoteControlConfig.msg
  RtlsAnchorData.msg
  RtlsTrackerFrame.msg
)

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.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
  geometry_msgs
  std_msgs  # Or other packages containing 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 exec_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 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
#  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS roscpp message_runtime
)

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

include_directories(include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(follow_me_master_beacon
  src/follow_me_master_beacon.cpp
)

add_executable(follow_me_remote_control
  src/follow_me_remote_control.cpp
)

add_executable(rtls_tracker_node
  src/rtls_tracker_node.cpp
)

add_executable(rtls_device_config_node
  src/rtls_device_config_node.cpp
  src/rtls_configurator_ros.cpp
)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(follow_me_master_beacon
  positioning_systems_ros_generate_messages_cpp
  ${follow_me_master_beacon_EXPORTED_TARGETS}
  ${catkin_EXPORTED_TARGETS}
)

add_dependencies(follow_me_remote_control
  positioning_systems_ros_generate_messages_cpp
  ${follow_me_remote_control_EXPORTED_TARGETS}
  ${catkin_EXPORTED_TARGETS}
)

add_dependencies(rtls_tracker_node
  positioning_systems_ros_generate_messages_cpp
  ${rtls_tracker_node_EXPORTED_TARGETS}
  ${catkin_EXPORTED_TARGETS}
)

add_dependencies(rtls_device_config_node
  positioning_systems_ros_generate_messages_cpp
  ${rtls_device_config_node_EXPORTED_TARGETS}
  ${catkin_EXPORTED_TARGETS}
)

## Specify libraries to link a library or executable target against
target_link_libraries(follow_me_master_beacon
  ${catkin_LIBRARIES}
  positioning_systems_api::follow_me_driver
)

target_link_libraries(follow_me_remote_control
  ${catkin_LIBRARIES}
  positioning_systems_api::follow_me_driver
)

target_link_libraries(rtls_tracker_node
  ${catkin_LIBRARIES}
  positioning_systems_api::rtls_driver
)

target_link_libraries(rtls_device_config_node
  ${catkin_LIBRARIES}
  positioning_systems_api::rtls_driver
)

if(BUILD_EXAMPLES)

  add_executable(example_follow_me_subscriber
    examples/example_follow_me_subscriber.cpp
  )

  add_dependencies(example_follow_me_subscriber
    positioning_systems_ros_generate_messages_cpp
    ${follow_me_remote_control_EXPORTED_TARGETS}
    ${catkin_EXPORTED_TARGETS}
  )

  target_link_libraries(example_follow_me_subscriber
    ${catkin_LIBRARIES}
    positioning_systems_api::follow_me_driver
  )

endif()

#############
## 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 for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

install(TARGETS follow_me_master_beacon
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  PUBLIC_HEADER DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)

install(TARGETS follow_me_remote_control
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  PUBLIC_HEADER DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_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_gmock(${PROJECT_NAME}-test
#  test/test_follow_me_driver.cpp
#)

#if(TARGET ${PROJECT_NAME}-test)
#  target_link_libraries(${PROJECT_NAME}-test
#    ${catkin_LIBRARIES}
#    follow_me_driver
#  )
#endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)