CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)

project(pfuclt_omni_dataset)

IF(NOT CMAKE_BUILD_TYPE)
  SET(CMAKE_BUILD_TYPE Release)
ENDIF()

MESSAGE("Build type: " ${CMAKE_BUILD_TYPE})

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3")

OPTION(USE_OpenMP "Use OpenMP" ON)
IF(USE_OpenMP)
  FIND_PACKAGE(OpenMP)
  IF(OPENMP_FOUND)
    message(STATUS "OPENMP FOUND")
    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
    SET(OpenMP_LIBS gomp)
  ENDIF()
ENDIF()

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/CMakeModules")
find_package(
        cmake_modules REQUIRED
        catkin REQUIRED dynamic_reconfigure
)

#external includes
INCLUDE_DIRECTORIES(include)

#build library for minicsv
add_library(minicsv src/minicsv.cpp)

find_package(catkin REQUIRED COMPONENTS
        roscpp
        rospy
        std_msgs
        tf
        geometry_msgs
        nav_msgs
        message_generation
        tf2
        tf2_ros
        dynamic_reconfigure
        )

FIND_PACKAGE(read_omni_dataset REQUIRED)
INCLUDE_DIRECTORIES(${read_omni_dataset_INCLUDE_DIRS})

generate_dynamic_reconfigure_options(
        config/Dynamic.cfg
)

INCLUDE_DIRECTORIES(${catkin_INCLUDE_DIRS} include)

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

generate_messages(
        DEPENDENCIES
        geometry_msgs
)

catkin_package(
        INCLUDE_DIRS include
        #  CATKIN_DEPENDS roscpp rospy
        CATKIN_DEPENDS std_msgs roscpp read_omni_dataset
        #  DEPENDS system_lib
)

FIND_PACKAGE(Eigen3 REQUIRED)
INCLUDE_DIRECTORIES(${Eigen3_INCLUDE_DIRS})

find_package(Boost REQUIRED)
include_directories(${Boost_INCLUDE_DIRS})

set(HEADER_FILES include/pfuclt_omni_dataset/pfuclt_aux.h include/pfuclt_omni_dataset/pfuclt_omni_dataset.h include/pfuclt_omni_dataset/pfuclt_particles.h include/pfuclt_omni_dataset/pfuclt_publisher.h)
set(SOURCE_FILES src/pfuclt_omni_dataset.cpp src/pfuclt_aux.cpp src/pfuclt_particles.cpp src/pfuclt_publisher.cpp)

add_executable(pfuclt_omni_dataset ${HEADER_FILES} ${SOURCE_FILES})
target_compile_options(pfuclt_omni_dataset PRIVATE ${OpenMP_FLAGS})
add_dependencies(pfuclt_omni_dataset pfuclt_omni_dataset_generate_messages_cpp pfuclt_omni_dataset_gencfg ${catkin_EXPORTED_TARGETS})
target_link_libraries(pfuclt_omni_dataset ${catkin_LIBRARIES} ${rosbag_LIBRARIES} ${Eigen3_LIBRARIES} ${Boost_LIBRARIES} ${read_omni_dataset_LIBRARIES} minicsv ${OpenMP_LIBS})