CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(webots_ros)

## 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 roscpp rospy std_msgs sensor_msgs message_generation tf moveit_ros_planning_interface)

## 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 and services ##
#######################################

## Generate messages in the 'msg' folder
  add_message_files(
    FILES
    BoolStamped.msg
    Float64Stamped.msg
    Int32Stamped.msg
    Int8Stamped.msg
    RadarTarget.msg
    RecognitionObject.msg
    RecognitionObjects.msg
    StringStamped.msg
    ContactPoint.msg
  )

## Generate services in the 'srv' folder
  add_service_files(
    FILES
    camera_get_focus_info.srv
    camera_get_info.srv
    camera_get_zoom_info.srv
    display_draw_line.srv
    display_draw_oval.srv
    display_draw_pixel.srv
    display_draw_polygon.srv
    display_draw_rectangle.srv
    display_draw_text.srv
    display_get_info.srv
    display_image_copy.srv
    display_image_delete.srv
    display_image_load.srv
    display_image_new.srv
    display_image_paste.srv
    display_image_save.srv
    display_set_font.srv
    field_disable_sf_tracking.srv
    field_enable_sf_tracking.srv
    field_get_bool.srv
    field_get_color.srv
    field_get_count.srv
    field_get_float.srv
    field_get_int32.srv
    field_get_node.srv
    field_get_rotation.srv
    field_get_string.srv
    field_get_type.srv
    field_get_name.srv
    field_get_vec2f.srv
    field_get_vec3f.srv
    field_import_node_from_string.srv
    field_remove_node.srv
    field_remove.srv
    field_set_bool.srv
    field_set_color.srv
    field_set_float.srv
    field_set_int32.srv
    field_set_rotation.srv
    field_set_string.srv
    field_set_vec2f.srv
    field_set_vec3f.srv
    get_bool.srv
    get_float_array.srv
    get_float.srv
    get_int.srv
    get_string.srv
    get_uint64.srv
    get_urdf.srv
    gps_decimal_degrees_to_degrees_minutes_seconds.srv
    lidar_get_frequency_info.srv
    lidar_get_info.srv
    lidar_get_layer_point_cloud.srv
    lidar_get_layer_range_image.srv
    motor_set_control_pid.srv
    mouse_get_state.srv
    node_add_force_or_torque.srv
    node_add_force_with_offset.srv
    node_disable_contact_points_tracking.srv
    node_disable_pose_tracking.srv
    node_enable_contact_points_tracking.srv
    node_enable_pose_tracking.srv
    node_get_center_of_mass.srv
    node_get_contact_points.srv
    node_get_field.srv
    node_get_field_by_index.srv
    node_get_id.srv
    node_get_number_of_fields.srv
    node_get_name.srv
    node_get_orientation.srv
    node_get_pose.srv
    node_get_parent_node.srv
    node_get_position.srv
    node_get_static_balance.srv
    node_get_status.srv
    node_get_string.srv
    node_set_string.srv
    node_get_type.srv
    node_get_velocity.srv
    node_remove.srv
    node_reset_functions.srv
    node_move_viewpoint.srv
    node_set_joint_position.srv
    node_set_visibility.srv
    node_set_velocity.srv
    pen_set_ink_color.srv
    range_finder_get_info.srv
    receiver_get_emitter_direction.srv
    robot_get_device_list.srv
    robot_set_mode.srv
    robot_wait_for_user_input_event.srv
    save_image.srv
    set_bool.srv
    set_float.srv
    set_float_array.srv
    set_int.srv
    set_string.srv
    skin_get_bone_name.srv
    skin_get_bone_orientation.srv
    skin_get_bone_position.srv
    skin_set_bone_orientation.srv
    skin_set_bone_position.srv
    speaker_is_sound_playing.srv
    speaker_speak.srv
    speaker_play_sound.srv
    supervisor_get_from_def.srv
    supervisor_get_from_id.srv
    supervisor_get_from_string.srv
    supervisor_movie_start_recording.srv
    supervisor_set_label.srv
    supervisor_virtual_reality_headset_get_orientation.srv
    supervisor_virtual_reality_headset_get_position.srv
  )

## Generate added messages and services with any dependencies listed here
  generate_messages(
    DEPENDENCIES
    std_msgs
    sensor_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 webots_ros
   CATKIN_DEPENDS roscpp rospy std_msgs sensor_msgs message_runtime tf
#  DEPENDS system_lib
)

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

include_directories(
  ${catkin_INCLUDE_DIRS}
)


## Instructions for keyboard_teleop node

add_executable(keyboard_teleop src/keyboard_teleop.cpp)

add_dependencies(keyboard_teleop webots_ros_generate_messages_cpp)

target_link_libraries(keyboard_teleop
	${catkin_LIBRARIES}
)


#instructions for e_puck_line client

add_executable(e_puck_line src/e_puck_line.cpp)

add_dependencies(e_puck_line webots_ros_generate_messages_cpp)

target_link_libraries(e_puck_line
	${catkin_LIBRARIES}
)

#instructions for complete_test client

add_executable(complete_test src/complete_test.cpp)

add_dependencies(complete_test webots_ros_generate_messages_cpp)

target_link_libraries(complete_test
	${catkin_LIBRARIES}
)

#instructions for robot_information_parser node

add_executable(robot_information_parser src/robot_information_parser.cpp)

add_dependencies(robot_information_parser webots_ros_generate_messages_cpp)

target_link_libraries(robot_information_parser
	${catkin_LIBRARIES}
)

#instructions for catch_the_bird node

add_executable(catch_the_bird src/catch_the_bird.cpp)

add_dependencies(catch_the_bird webots_ros_generate_messages_cpp)

target_link_libraries(catch_the_bird
	${catkin_LIBRARIES}
)

#instructions for panoramic_view_recorder node

add_executable(panoramic_view_recorder src/panoramic_view_recorder.cpp)

add_dependencies(panoramic_view_recorder webots_ros_generate_messages_cpp)

target_link_libraries(panoramic_view_recorder
	${catkin_LIBRARIES}
)


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

install(TARGETS keyboard_teleop
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(TARGETS e_puck_line
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(TARGETS complete_test
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(TARGETS robot_information_parser
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(TARGETS catch_the_bird
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(TARGETS panoramic_view_recorder
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

catkin_install_python(PROGRAMS scripts/ros_controller.py
        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

catkin_install_python(PROGRAMS scripts/ros_python.py
        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

catkin_install_python(PROGRAMS scripts/webots_launcher.py
        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(DIRECTORY launch
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY plugins
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY worlds
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY config
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY controllers
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})