64 lines
1.3 KiB
CMake
64 lines
1.3 KiB
CMake
cmake_minimum_required(VERSION 3.0.2)
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project(tr360_ros)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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sensor_msgs
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pcl_ros
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pcl_conversions
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dynamic_reconfigure
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)
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# 添加动态参数配置生成
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find_package(catkin REQUIRED)
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generate_dynamic_reconfigure_options(
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cfg/TR360Config.cfg
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)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES tr360_ros
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CATKIN_DEPENDS roscpp sensor_msgs pcl_ros pcl_conversions
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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)
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add_executable(tr360_node src/tr360_node.cpp)
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target_link_libraries(tr360_node
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${catkin_LIBRARIES}
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${PCL_LIBRARIES}
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)
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# 添加网络库链接
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target_link_libraries(tr360_node ${Boost_LIBRARIES})
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# 测试发布器
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add_executable(test_publisher src/test_publisher.cpp)
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target_link_libraries(test_publisher
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${catkin_LIBRARIES}
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${PCL_LIBRARIES}
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)
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install(TARGETS test_publisher
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(TARGETS tr360_node
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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install(DIRECTORY launch/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
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)
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install(DIRECTORY config/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
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) |