CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(ladybug)

## 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
  cv_bridge
  image_transport
  camera_info_manager
  roscpp
  rospy
  std_msgs
  sensor_msgs
  genmsg
  tf
)


#find_package(Protobuf REQUIRED)
#find_package(ZMQ REQUIRED)
## 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/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 
  image.msg
  sensors.msg
)

## Generate services in the 'srv' folder
add_service_files(
  FILES
  send_command.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
   sensor_msgs
   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 ladybug
  CATKIN_DEPENDS boost cv_bridge image_transport roscpp rospy sensor_msgs std_msgs
  DEPENDS system_lib
)

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

## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories(
  ${catkin_INCLUDE_DIRS}
  include 
  src/common/ 
  boost 
  google/protobuf
)

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

#Image processing node
add_executable(image_node 
                src/image_node/image_node.cpp 
                src/common/image_publisher.cpp 
                src/common/opencv_helper.cpp
                src/common/topic_names.cpp
                src/common/debug.cpp 
                )
target_link_libraries(image_node 
                ${catkin_LIBRARIES}
                )
add_dependencies(image_node 
                ladybug_generate_messages_cpp
                )

#Image processing nodelet
add_library(image_nodelet 
                src/image_node/image_nodelet.cpp 
                src/common/image_publisher.cpp 
                src/common/opencv_helper.cpp
                src/common/topic_names.cpp
                src/common/debug.cpp 
                )
target_link_libraries(image_nodelet
                ${catkin_LIBRARIES}
                )
add_dependencies(image_nodelet
                ladybug_generate_messages_cpp
                )
                
add_library(receiver_nodelet
				src/receiver/receiver_nodelet.cpp
				src/common/protobuf/imageMessage.pb.cc
                src/common/topic_names.cpp
			    src/common/zmq_service.cpp
			    src/common/debug.cpp 
)

target_link_libraries(receiver_nodelet 
                ${catkin_LIBRARIES} 
                protobuf 
                zmq
                )

add_dependencies(receiver_nodelet ladybug_generate_messages_cpp)


#ZMQ Image receiver node (network)
add_executable(receiver 
                src/receiver/receiver.cpp 
                src/common/socket.cpp 
                src/common/helper.cpp 
                src/common/protobuf/imageMessage.pb.cc
                src/common/topic_names.cpp
                )
target_link_libraries(receiver 
                ${catkin_LIBRARIES} 
                protobuf 
                zmq
                )
                
add_dependencies(receiver ladybug_generate_messages_cpp)

#Image Sensor node
add_executable(sensor_node 
                src/sensor_node/sensor_node.cpp 
                src/common/sensor_publisher.cpp
                src/common/topic_names.cpp
                )
target_link_libraries(sensor_node 
                ${catkin_LIBRARIES}
                )
add_dependencies(sensor_node 
                ladybug_generate_messages_cpp
                )
                
#Image rectification node
add_executable(rectification_map_node 
                src/rectification_map/rectification_map.cpp
                src/common/topic_names.cpp
                src/common/image_rectified_publisher.cpp 
                src/common/opencv_helper.cpp
                )
                
target_link_libraries(rectification_map_node 
                ${catkin_LIBRARIES}
                )
                
add_dependencies(rectification_map_node 
                ladybug_generate_messages_cpp
                )
                
add_library(rectification_nodelet 
                src/rectification_map/rectifier_nodelet.cpp 
                src/common/opencv_helper.cpp
                src/common/topic_names.cpp
                src/common/debug.cpp 
                )
target_link_libraries(rectification_nodelet
                ${catkin_LIBRARIES}
                )
add_dependencies(rectification_nodelet
                ladybug_generate_messages_cpp
                )
                
#service to control the windows maschiene
add_executable(service 
			   src/service/node.cpp
               src/common/protobuf/imageMessage.pb.cc
			   src/common/zmq_service.cpp
			   src/common/ladybug_service.cpp
			   )
			   
target_link_libraries(service 
		        ${catkin_LIBRARIES}
		        protobuf
				zmq
			   )

## Add cmake target dependencies of the executable/library
add_dependencies(service 
				 ladybug_generate_messages_cpp
				 )

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

## Specify libraries to link a library or executable target against
# target_link_libraries(ladybug_node
#   ${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 ladybug ladybug_node
#   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
#   # 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_ladybug.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)