X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=CMakeLists.txt;h=999926aa31b0646b2ae5fe286142d0ebfa80760e;hp=c35ceaf9a5546a1e02055e6e7b780ac83a69bd9d;hb=3d10c26a464468169ace654c14a29d26cbda13e8;hpb=dcdf9baa260c03d34c55339af9950155319c41f0

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c35ceaf..999926a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,10 +1,12 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(wild_thumper)
+EXECUTE_PROCESS( COMMAND uname -m COMMAND tr -d '\n' OUTPUT_VARIABLE ARCHITECTURE )
 
 ## 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)
+find_package(catkin REQUIRED sensor_msgs cv_bridge roscpp rospy std_msgs image_transport dynamic_reconfigure message_generation rosruby tf)
+find_package(OpenCV)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
@@ -13,7 +15,7 @@ find_package(catkin REQUIRED)
 ## 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()
+catkin_python_setup()
 
 ################################################
 ## Declare ROS messages, services and actions ##
@@ -40,18 +42,18 @@ find_package(catkin REQUIRED)
 ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
 
 ## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
+add_message_files(
+  FILES
+  LedStripe.msg
+  Led.msg
+  Sensor.msg
+)
 
 ## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
+add_service_files(
+  FILES
+  DWM1000Center.srv
+)
 
 ## Generate actions in the 'action' folder
 # add_action_files(
@@ -61,10 +63,18 @@ find_package(catkin REQUIRED)
 # )
 
 ## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs  # Or other packages containing msgs
-# )
+generate_messages(
+  DEPENDENCIES
+  std_msgs  # Or other packages containing msgs
+)
+
+rosruby_setup()
+rosruby_generate_messages(fiducial_msgs)
+
+generate_dynamic_reconfigure_options(
+  config/PathFollowing.cfg
+  config/WildThumper.cfg
+)
 
 ###################################
 ## catkin specific configuration ##
@@ -78,8 +88,9 @@ find_package(catkin REQUIRED)
 catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES wild_thumper
-#  CATKIN_DEPENDS other_catkin_pkg
+#   CATKIN_DEPENDS sensor_msgs
 #  DEPENDS system_lib
+   CATKIN_DEPENDS message_runtime
 )
 
 ###########
@@ -88,7 +99,9 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
-# include_directories(include)
+include_directories(
+    ${catkin_INCLUDE_DIRS}
+)
 
 ## Declare a cpp library
 # add_library(wild_thumper
@@ -96,16 +109,24 @@ catkin_package(
 # )
 
 ## Declare a cpp executable
-# add_executable(wild_thumper_node src/wild_thumper_node.cpp)
+add_executable(path_following src/path_following.cpp)
 
 ## Add cmake target dependencies of the executable/library
 ## as an example, message headers may need to be generated before nodes
-# add_dependencies(wild_thumper_node wild_thumper_generate_messages_cpp)
+add_dependencies(path_following ${PROJECT_NAME}_gencfg)
 
 ## Specify libraries to link a library or executable target against
-# target_link_libraries(wild_thumper_node
-#   ${catkin_LIBRARIES}
-# )
+target_link_libraries(path_following
+   ${catkin_LIBRARIES}
+   ${OpenCV_LIBS}
+)
+if(${ARCHITECTURE} EQUAL "armv7l")
+	add_executable(wt_node src/wt_node.cpp)
+	target_link_libraries(wt_node
+	   ${catkin_LIBRARIES}
+	   i2c
+	)
+endif()
 
 #############
 ## Install ##