cmake_minimum_required(VERSION 2.8.3)

project(laser_filters)

set(THIS_PACKAGE_ROS_DEPS sensor_msgs roscpp tf filters message_filters

laser_geometry pluginlib angles nodelet)

find_package(catkin REQUIRED COMPONENTS ${THIS_PACKAGE_ROS_DEPS})

find_package(Boost REQUIRED COMPONENTS system)

include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})

catkin_package(

INCLUDE_DIRS include

LIBRARIES pointcloud_filters laser_scan_filters

CATKIN_DEPENDS ${THIS_PACKAGE_ROS_DEPS}

DEPENDS

)

add_library(pointcloud_filters src/pointcloud_filters.cpp)

target_link_libraries(pointcloud_filters ${catkin_LIBRARIES})

add_library(laser_scan_filters

src/laser_scan_filters.cpp

src/median_filter.cpp

src/array_filter.cpp

src/box_filter.cpp

src/scan_to_scan_filter_chain.cpp

src/scan_to_cloud_filter_chain.cpp

src/scan_to_scan_filter_chain_nodelet.cpp

src/scan_to_cloud_filter_chain_nodelet.cpp

)

target_link_libraries(laser_scan_filters ${catkin_LIBRARIES} ${Boost_LIBRARIES})

add_executable(scan_to_cloud_filter_chain src/scan_to_cloud_filter_chain_node.cpp)

target_link_libraries(scan_to_cloud_filter_chain laser_scan_filters ${catkin_LIBRARIES} ${Boost_LIBRARIES})

add_executable(scan_to_scan_filter_chain src/scan_to_scan_filter_chain_node.cpp)

target_link_libraries(scan_to_scan_filter_chain laser_scan_filters ${catkin_LIBRARIES} ${Boost_LIBRARIES})

add_executable(generic_laser_filter_node src/generic_laser_filter_node.cpp)

target_link_libraries(generic_laser_filter_node ${catkin_LIBRARIES} ${Boost_LIBRARIES})

if (CATKIN_ENABLE_TESTING)

find_package(rostest)

add_executable(test_scan_filter_chain test/test_scan_filter_chain.cpp)

target_link_libraries(test_scan_filter_chain laser_scan_filters ${rostest_LIBRARIES} ${GTEST_LIBRARIES})

add_dependencies(test_scan_filter_chain gtest)

add_rostest(test/test_scan_filter_chain.launch)

catkin_add_gtest(test_shadow_detector test/test_shadow_detector.cpp)

target_link_libraries(test_shadow_detector ${catkin_LIBRARIES} ${rostest_LIBRARIES})

endif()

install(TARGETS pointcloud_filters laser_scan_filters

scan_to_cloud_filter_chain

scan_to_scan_filter_chain

generic_laser_filter_node

ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}

RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}

)

install(DIRECTORY include/${PROJECT_NAME}/

DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})

install(FILES laser_filters_plugins.xml nodelet_plugins.xml

DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

)