CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(smartbase_radar)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  message_generation
)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)
find_package(Eigen3 REQUIRED)

## Generate messages in the 'msg' folder
add_message_files(
  FILES
  RadarTarget.msg
  RadarTargetArray.msg
  RadarTrack.msg
  RadarTrackArray.msg
  TCPFrame.msg
  Vector2.msg
  VehicleInfo.msg
  srr2/AlignmentInfoSRR2.msg
  srr2/VehicleInfoSRR2.msg
)

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  std_msgs
)

###################################
## 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 smartbase_radar
  CATKIN_DEPENDS roscpp rospy std_msgs
  DEPENDS system_lib
)

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

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIR}
)

add_library(kalman_filter src/kalman_filter.cpp)
target_link_libraries(kalman_filter ${catkin_LIBRARIES})
add_dependencies(kalman_filter ${PROJECT_NAME}_generate_messages_cpp)

add_executable(kalman_test src/kalman_test.cpp)
target_link_libraries(kalman_test
                      kalman_filter ${catkin_LIBRARIES})

add_library(slam_sys src/slam_sys.cpp)
target_link_libraries(slam_sys ${catkin_LIBRARIES})
add_dependencies(slam_sys radar_data ${PROJECT_NAME}_generate_messages_cpp)

add_library(radar_data src/kalman_filter.cpp)
target_link_libraries(radar_data ${catkin_LIBRARIES})
add_dependencies(radar_data ${PROJECT_NAME}_generate_messages_cpp)

add_executable(main src/main.cpp)
target_link_libraries(main
                      slam_sys
                      radar_data
                      ${catkin_LIBRARIES})

#############
## Install ##
#############

# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )

find_package(OpenCV)
include_directories(${OpenCV_INCLUDE_DIRS})