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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10)
project(stonefish_ros)
find_package(catkin REQUIRED COMPONENTS
message_generation
geometry_msgs
nav_msgs
sensor_msgs
std_msgs
std_srvs
roscpp
roslib
tf
tf_conversions
pcl_ros
pcl_conversions
image_transport
controller_manager
)
find_package(Stonefish REQUIRED 1.3.0)
add_message_files(
FILES
DVLBeam.msg
NEDPose.msg
DVL.msg
INS.msg
Int32Stamped.msg
ThrusterState.msg
BeaconInfo.msg
)
add_service_files(
FILES
Respawn.srv
SonarSettings.srv
SonarSettings2.srv
)
generate_messages(
DEPENDENCIES
std_msgs
geometry_msgs
)
set(CMAKE_CXX_STANDARD 17)
catkin_package(
INCLUDE_DIRS include
LIBRARIES stonefish_ros
CATKIN_DEPENDS geometry_msgs
nav_msgs
sensor_msgs
std_msgs
std_srvs
roscpp
roslib
tf
tf_conversions
message_runtime
pcl_conversions
pcl_ros
image_transport
controller_manager
)
#Library
add_library(stonefish_ros SHARED
src/ROSInterface.cpp
src/ROSSimulationManager.cpp
src/ROSScenarioParser.cpp
src/ROSControlInterface.cpp
)
target_link_libraries(stonefish_ros PUBLIC ${catkin_LIBRARIES} Stonefish::Stonefish)
target_include_directories(stonefish_ros PUBLIC include ${catkin_INCLUDE_DIRS})
add_dependencies(stonefish_ros ${${PROJECT_NAME}_EXPORTED_TARGETS})
#Universal simulators with XML parser
add_executable(parsed_simulator src/parsed_simulator.cpp)
target_link_libraries(parsed_simulator PRIVATE stonefish_ros)
add_executable(parsed_simulator_nogpu src/parsed_simulator_nogpu.cpp)
target_link_libraries(parsed_simulator_nogpu PRIVATE stonefish_ros)