Merge pull request #2 from urastogi885/Phase2

Phase2 ended. Fixing of build issues pending.

CMakeLists.txt

@@ -0,0 +1,58 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(supermarket_cleaning_robot)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin and any catkin packages
+find_package(OpenCV 2 REQUIRED)
+
+find_package(
+	catkin REQUIRED COMPONENTS 
+	roscpp 
+	sensor_msgs
+  geometry_msgs
+  move_base_msgs
+	cv_bridge
+	image_transport
+)
+
+## Declare a catkin package
+catkin_package()
+
+## Build target library
+include_directories(
+  include 
+  ${catkin_INCLUDE_DIRS}
+  ${OpenCV_INCLUDE_DIRS}
+)
+
+## Add executables
+add_executable(supermarket_cleaning_robot src/turtlebot.cpp src/obstacle_avoidance.cpp)
+
+## Add target link libraries
+## target_link_libraries(supermarket_cleaning_robot ${catkin_LIBRARIES}${OpenCV_INCLUDE_DIRS})
+
+## Enable catkin test and add files for the same
+if(CATKIN_ENABLE_TESTING)
+  set(CMAKE_BUILD_TYPE Debug)
+  find_package(rostest REQUIRED)
+  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -O0 --coverage")
+  add_rostest_gtest(
+   test_project_x_robot
+   test/main.cpp 
+   test/obstacle_avoidance_test.cpp 
+   test/turtlebot_test.cpp 
+   src/turtlebot.cpp 
+   src/obstacle_avoidance.cpp)
+
+  target_link_libraries(
+   test_supermarket_cleaning_robot 
+   ${catkin_LIBRARIES}
+   ${OpenCV_LIBS})
+
+  add_dependencies(
+    supermarket_cleaning_robot
+    test_project_x_robot
+    ${catkin_EXPORTED_TARGETS})
+endif()