CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(delta_planning_controls)

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

## Find catkin macros and libraries
find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  dynamic_reconfigure
  diagnostic_msgs
  visualization_msgs)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## Generate dynamic reconfigure parameters in the 'cfg' folder
generate_dynamic_reconfigure_options(
  cfg/PIDReconfigure.cfg
)

###################################
## catkin specific configuration ##
###################################

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS delta_msgs carla_ros_bridge
  # DEPENDS system_lib
)

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

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

## Declare a C++ library
add_library(${PROJECT_NAME}
  src/delta_planner.cpp
  src/pid_controller.cpp
  src/quintic_polynomial_generation.cpp
  src/stanley_controller.cpp
  src/speed_pid.cpp 
)

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_node src/delta_planner.cpp)
add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node
  ${PROJECT_NAME}
  ${catkin_LIBRARIES}
)

add_executable(diagnostics_test_node test/diagnostics_test.cpp)
target_link_libraries(diagnostics_test_node ${catkin_LIBRARIES})