CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(pyride_pr2)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  actionlib
  cv_bridge
  image_transport
  laser_geometry
  move_base_msgs
  moveit_core
  moveit_msgs
  moveit_ros_planning_interface
  pr2_common_action_msgs
  pr2_controllers_msgs
  pr2_msgs
  pyride_common_msgs
  pr2_power_board
  roscpp
  sensor_msgs
  sound_play
  std_msgs
  tf
  topic_tools
)

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

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

################################################
## Declare ROS messages, services and actions ##
################################################

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

## Generate messages in the 'msg' folder
#add_message_files(
#   FILES
#)

## 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 you 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 pyride_pr2
#  CATKIN_DEPENDS actionlib cv_bridge image_transport laser_geometry move_base_msgs moveit_core moveit_msgs pr2_common_action_msgs pr2_controllers_msgs pr2_msgs pr2_power_board roscpp sensor_msgs sound_play std_msgs tf topic_tools
#  CATKIN_DEPENDS message_runtime
#  DEPENDS system_lib
)

###########
## Build ##
###########
add_definitions(-DROS_BUILD -DUSE_ENCRYPTION)

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

## Declare a cpp library
# add_library(pyride_pr2
#   src/${PROJECT_NAME}/pyride_pr2.cpp
# )

## Declare a cpp executable
add_executable(pyride_pr2 pyridecore/AppConfigManager.cpp
                          pyridecore/PyRideCommon.cpp
                          pyridecore/jdatabufferdst.cpp
                          pyridecore/DeviceController.cpp
                          pyridecore/ServerDataProcessor.cpp
                          pyridecore/PyRideNetComm.cpp
                          pyridecore/PythonServer.cpp
                          pyridecore/PyModuleStub.cpp
                          src/PyPR2Server.cpp
                          src/PR2ProxyManager.cpp
                          src/PyPR2Module.cpp
                          src/VideoObject.cpp
                          src/main.cpp)

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
add_dependencies(pyride_pr2 ${catkin_EXPORTED_TARGETS})

add_library(celt STATIC IMPORTED)
set_target_properties(celt PROPERTIES IMPORTED_LOCATION ${PROJECT_SOURCE_DIR}/lib/libcelt0.a)
## Specify libraries to link a library or executable target against
target_link_libraries(pyride_pr2 
   ccrtp1 ccgnu2
   crypto python2.7
   jpeg tinyxml celt
   ${catkin_LIBRARIES}
)

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

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

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

## Mark executables and/or libraries for installation
install(TARGETS pyride_pr2 pyride_pr2
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
)

install(DIRECTORY scripts/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scripts
)

install(FILES
  pyrideconfig.xml
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
#   FILES_MATCHING PATTERN "*.h"
#   PATTERN ".svn" EXCLUDE
# )

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

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_pyride_pr2.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)