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ROS 2 port #51

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498dfcd
Ported p2os_msgs
allenh1 Aug 12, 2017
452f7b9
Begin porting P2OS driver. Don't try to compile this yet.
allenh1 Aug 12, 2017
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Empty file removed p2os_driver/AMENT_IGNORE
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57 changes: 32 additions & 25 deletions p2os_driver/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,30 +1,36 @@
cmake_minimum_required(VERSION 2.8.3)
cmake_minimum_required(VERSION 3.5)
project(p2os_driver)

find_package(catkin REQUIRED COMPONENTS
p2os_msgs
diagnostic_updater
nav_msgs
roscpp
geometry_msgs
tf
std_msgs
kdl_parser
)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra)
endif()

catkin_package(
INCLUDE_DIRS include
LIBRARIES p2os_driver
CATKIN_DEPENDS p2os_msgs nav_msgs roscpp geometry_msgs diagnostic_updater tf std_msgs kdl_parser
)
find_package(ament_cmake_auto REQUIRED)
find_package(ament_cmake_ros REQUIRED)

## Specify additional locations of header files
include_directories(include
${catkin_INCLUDE_DIRS}
set(req_deps
"p2os_msgs"
"std_msgs"
"nav_msgs"
"rclcpp"
"rcutils"
"geometry_msgs"
"tf2"
"tf2_ros"
"tf2_msgs"
"tf2_geometry_msgs"
)

ament_auto_find_build_dependencies(REQUIRED ${req_deps})

INCLUDE_DIRECTORIES(include)

## Declare a cpp executable
add_executable(p2os_driver
ament_auto_add_executable(p2os_driver
src/p2osnode.cc
src/p2os.cc
src/kinecalc.cc
Expand All @@ -33,11 +39,12 @@ add_executable(p2os_driver
src/sip.cc
src/p2os_ptz.cpp
)

target_link_libraries(p2os_driver ${catkin_LIBRARIES})
add_dependencies(p2os_driver p2os_msgs_gencpp)
ament_target_dependencies(p2os_driver ${req_deps})

## Mark executables and/or libraries for installation
install(TARGETS p2os_driver
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
install(
TARGETS p2os_driver
DESTINATION lib/${PROJECT_NAME}
)

ament_auto_package()
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