Camera Display CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3) project(follow)

1. 1. Find catkin macros and libraries
   2. if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
   3. is used, also find other catkin packages

find_package(catkin REQUIRED COMPONENTS

 roscpp
 rospy
 std_msgs
 cv_bridge 
 genmsg 
 image_transport 
 sensor_msgs

)

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

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

1. 2. Declare ROS messages, services and actions ##

1. 1. To declare and build messages, services or actions from within this
   2. package, follow these steps:
   3. * Let MSG_DEP_SET be the set of packages whose message types you use in
   4. your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
   5. * In the file package.xml:
   6. * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
   7. * If MSG_DEP_SET isn't empty the following dependencies might have been
   8. pulled in transitively but can be declared for certainty nonetheless:
   9. * add a build_depend tag for "message_generation"
   10. * add a run_depend tag for "message_runtime"
   11. * In this file (CMakeLists.txt):
   12. * add "message_generation" and every package in MSG_DEP_SET to
   13. find_package(catkin REQUIRED COMPONENTS ...)
   14. * add "message_runtime" and every package in MSG_DEP_SET to
   15. catkin_package(CATKIN_DEPENDS ...)
   16. * uncomment the add_*_files sections below as needed
   17. and list every .msg/.srv/.action file to be processed
   18. * uncomment the generate_messages entry below
   19. * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

1. add_message_files(DIRECTORY msg
2. FILES ResizedImage.msg
3. )

1. 1. Generate messages in the 'msg' folder
2. add_message_files(
3. FILES
4. Message1.msg
5. Message2.msg
6. )

1. 1. Generate services in the 'srv' folder
2. add_service_files(
3. FILES
4. Service1.srv
5. Service2.srv
6. )

1. 1. Generate actions in the 'action' folder
2. add_action_files(
3. FILES
4. Action1.action
5. Action2.action
6. )

1. 1. Generate added messages and services with any dependencies listed here

generate_messages(

 DEPENDENCIES
 std_msgs

)

1. 2. catkin specific configuration ##
   3. The catkin_package macro generates cmake config files for your package
   4. Declare things to be passed to dependent projects
   5. INCLUDE_DIRS: uncomment this if you package contains header files
   6. LIBRARIES: libraries you create in this project that dependent projects also need
   7. CATKIN_DEPENDS: catkin_packages dependent projects also need
   8. DEPENDS: system dependencies of this project that dependent projects also need

catkin_package(

1. INCLUDE_DIRS include
2. LIBRARIES follow
3. CATKIN_DEPENDS roscpp rospy std_msgs
4. DEPENDS system_lib

)

find_package(OpenCV)

1. 2. Build ##

1. 1. Specify additional locations of header files
   2. Your package locations should be listed before other locations
2. include_directories(include)

include_directories(

 ${catkin_INCLUDE_DIRS}

)

1. 1. Declare a cpp library
2. add_library(follow
3. src/${PROJECT_NAME}/follow.cpp
4. )

1. 1. Declare a cpp executable
2. add_executable(follow_node src/follow_node.cpp)
3. add_executable(move_it_pid src/move_it_pid.cpp)

add_executable(move_it src/move_it.cpp)

1. 1. Add cmake target dependencies of the executable/library
   2. as an example, message headers may need to be generated before nodes
2. add_dependencies(follow_node follow_generate_messages_cpp)

1. 1. Specify libraries to link a library or executable target against

target_link_libraries(move_it

 ${catkin_LIBRARIES}

)

add_executable(camera_display src/camera_display.cpp) target_link_libraries(camera_display

 ${catkin_LIBRARIES} 
 ${OpenCV_LIBRARIES}

)

add_executable(hough_tracker src/hough_tracker.cpp) target_link_libraries(hough_tracker

 ${catkin_LIBRARIES} 
 ${OpenCV_LIBRARIES}

)

1. 2. Install ##

1. all install targets should use catkin DESTINATION variables
2. See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

1. 1. Mark executable scripts (Python etc.) for installation
   2. in contrast to setup.py, you can choose the destination
2. install(PROGRAMS
3. scripts/my_python_script
4. DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
5. )

1. 1. Mark executables and/or libraries for installation
2. install(TARGETS follow follow_node
3. ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
4. LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
5. RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
6. )

1. 1. Mark cpp header files for installation
2. install(DIRECTORY include/${PROJECT_NAME}/
3. DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
4. FILES_MATCHING PATTERN "*.h"
5. PATTERN ".svn" EXCLUDE
6. )

1. 1. Mark other files for installation (e.g. launch and bag files, etc.)
2. install(FILES
3. # myfile1
4. # myfile2
5. DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
6. )

1. 2. Testing ##

1. 1. Add gtest based cpp test target and link libraries
2. catkin_add_gtest(${PROJECT_NAME}-test test/test_follow.cpp)
3. if(TARGET ${PROJECT_NAME}-test)
4. target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
5. endif()

1. 1. Add folders to be run by python nosetests
2. catkin_add_nosetests(test)