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Copy pathCMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10.2)
project(pcl_object_detection)
add_compile_options(-std=c++14 -O2 -g -Wall)
find_package(catkin REQUIRED COMPONENTS
dynamic_reconfigure
geometry_msgs
laser_geometry
message_generation
pluginlib
nodelet
pcl_conversions
pcl_ros
roscpp
rospy
std_msgs
visualization_msgs
tf2
tf2_ros
tf2_geometry_msgs
)
## Generate messages in the 'msg' folder
add_message_files(
FILES
LineInfo.msg
)
# Generate services in the 'srv' folder
add_service_files(
FILES
DetectionModeCtr.srv
LineDetectionService.srv
)
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
# Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
geometry_msgs std_msgs visualization_msgs
)
# Generate dynamic reconfigure parameters in the 'cfg' folder
generate_dynamic_reconfigure_options(
config/dynamic_reconfigure/ObjectDetectionParameter.cfg
config/dynamic_reconfigure/PCLParameter.cfg
config/dynamic_reconfigure/LineDetectionParameter.cfg
)
catkin_package(
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
CATKIN_DEPENDS
dynamic_reconfigure
geometry_msgs
laser_geometry
pluginlib
nodelet
pcl_conversions
pcl_ros
roscpp
rospy
std_msgs
visualization_msgs
tf2
tf2_ros
tf2_geometry_msgs
DEPENDS system_lib
)
include_directories(
include
${catkin_INCLUDE_DIRS}
)
add_executable(${PROJECT_NAME}_save_pcd src/sub/save_pcd.cpp)
target_link_libraries(${PROJECT_NAME}_save_pcd ${catkin_LIBRARIES})
# add_dependencies(${PROJECT_NAME}_save_pcd ${PROJECT_NAME}_generate_messages_cpp)
add_executable(${PROJECT_NAME}_pointcloud_publisher src/sub/pointcloud_publisher.cpp)
target_link_libraries(${PROJECT_NAME}_pointcloud_publisher ${catkin_LIBRARIES})
# add_dependencies(${PROJECT_NAME}_pointcloud_publisher ${PROJECT_NAME}_generate_messages_cpp)
add_executable(${PROJECT_NAME}_scan_publisher src/sub/scan_publisher.cpp)
target_link_libraries(${PROJECT_NAME}_scan_publisher ${catkin_LIBRARIES})
# add_dependencies(${PROJECT_NAME}_scan_publisher ${PROJECT_NAME}_generate_messages_cpp)
add_library(${PROJECT_NAME} src/detection_manager_nodelet.cpp
src/object_detection_table_nodelet.cpp
src/object_detection_floor_nodelet.cpp
src/object_detection_shelf_nodelet.cpp
src/placeable_detection_nodelet.cpp
src/point_cloud_processor.cpp
src/line_detection_nodelet.cpp)
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_generate_messages)
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})