CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(microstrain_3dmgx2_imu)

## 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 message_generation roscpp sensor_msgs self_test diagnostic_updater tf std_srvs std_msgs)

find_library(LOG4CXX_LIBRARY log4cxx)
if(NOT LOG4CXX_LIBRARY)
  message(FATAL_ERROR "Couldn't find log4cxx library")
endif()

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


## 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/groovy/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

#######################################
## Declare ROS messages and services ##
#######################################

## Generate messages in the 'msg' folder
# add_message_files(
#   FILES
#   Message1.msg
#   Message2.msg
# )

## Generate services in the 'srv' folder
add_service_files(
   DIRECTORY srv
   FILES AddOffset.srv
)

## 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
## 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 3dmgx2 ${LOG4CXX_LIBRARY}
  CATKIN_DEPENDS message_runtime roscpp sensor_msgs self_test diagnostic_updater tf std_srvs std_msgs
  DEPENDS
)

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

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

## Declare a cpp library
add_library(3dmgx2 src/3dmgx2.cc)

## Declare a cpp executable
add_executable(imu_node src/imu_node.cc)
target_link_libraries(imu_node 3dmgx2 ${catkin_LIBRARIES})
add_dependencies(imu_node microstrain_3dmgx2_imu_gencpp)

# Utility to recover ID from IMU
add_executable(get_id src/get_id.cpp)
target_link_libraries(get_id 3dmgx2 ${catkin_LIBRARIES} ${LOG4CXX_LIBRARY})

## Add cmake target dependencies of the executable/library
## as an example, message headers may need to be generated before nodes
# add_dependencies(microstrain_node microstrain_generate_messages_cpp)

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

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

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/groovy/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 3dmgx2 imu_node get_id
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_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
   COPYING.lib
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

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

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_microstrain.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)