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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(perception3d)
find_package(catkin REQUIRED COMPONENTS
pcl_conversions
pcl_ros
roscpp
rospy
sensor_msgs
std_msgs
pcl_msgs
image_transport
jaco_driver
jaco_msgs
moveit_ros_planning_interface
tf
tf_conversions
)
find_package( PCL REQUIRED )
include_directories( ${catkin_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
include
#gtest-1.7.0/include
)
#add_subdirectory(gtest-1.7.0)
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
#add_library(codeToTest test/testApi.cpp
# test/testObjectBd.cpp)
add_library(lperception src/perception/perception.cpp
src/perception/objectExtractor.cpp
src/perception/jaco_custom.cpp
src/perception/communication.cpp
src/perception/fileAPI.cpp
src/perception/object_recognition.cpp
src/perception/objectBd.cpp)
target_link_libraries(lperception ${catkin_LIBRARIES} ${PCL_LIBRARIES})
catkin_package(
INCLUDE_DIRS include
#gtest-1.7.0/include
#${PCL_INCLUDE_DIRS}
# LIBRARIES ${PCL_LIBRARY_DIRS}
# CATKIN_DEPENDS other_catkin_pkg
# DEPENDS system_lib
)
#add_executable(segmentation src/segmentation.cpp)
#target_link_libraries(segmentation ${catkin_LIBRARIES} ${PCL_LIBRARIES})
#add_executable(snapshot src/snapshot.cpp)
#target_link_libraries(snapshot ${catkin_LIBRARIES} ${PCL_LIBRARIES})
#add_dependencies(snapshot perception3d_gencpp)
#add_executable(objects_extraction src/objects_extraction.cpp)
#target_link_libraries(objects_extraction ${catkin_LIBRARIES} ${PCL_LIBRARIES})
#add_dependencies(objects_extraction perception3d_gencpp)
#add_executable(connected_segmentation src/connected_segmentation.cpp)
#target_link_libraries(connected_segmentation ${catkin_LIBRARIES} ${PCL_LIBRARIES})
#add_dependencies(connected_segmentation perception3d_gencpp)
#add_executable(find_cloud src/find_cloud.cpp)
#target_link_libraries(find_cloud ${catkin_LIBRARIES} ${PCL_LIBRARIES})
#add_dependencies(find_cloud perception3d_gencpp)
#add_executable(tracking src/tracking.cpp)
#target_link_libraries(tracking ${catkin_LIBRARIES} ${PCL_LIBRARIES})
#add_dependencies(tracking perception3d_gencpp)
add_executable(image_transport_node src/image_transport_node.cpp)
target_link_libraries(image_transport_node ${catkin_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(image_transport_node perception3d_gencpp)
add_executable(perception
src/perception/perception.cpp
src/perception/objectExtractor.cpp
src/perception/jaco_custom.cpp
src/perception/communication.cpp
src/perception/fileAPI.cpp
src/perception/object_recognition.cpp
src/perception/objectBd.cpp
)
target_link_libraries(perception ${catkin_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(perception perception3d_gencpp)
#add_executable(unit-test test/testApi.cpp
# test/testObjectBd.cpp)
#target_link_libraries(unit-test gtest gtest_main rt pthread boost_system lperception)
add_executable(segmentation
src/segmentation/mainProgram.cpp
src/segmentation/planSegmentor.cpp
)
target_link_libraries(segmentation ${catkin_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(segmentation perception3d_gencpp)
#add_executable(grasp src/jacoTests/grasp.cpp)
#target_link_libraries(grasp ${catkin_LIBRARIES} ${PCL_LIBRARIES})
#add_dependencies(grasp perception3d_gencpp)
#add_executable(jaco_joint_states src/jacoTests/jaco_joint_states.cpp)
#target_link_libraries(jaco_joint_states ${catkin_LIBRARIES} ${PCL_LIBRARIES})
#add_dependencies(jaco_joint_states perception3d_gencpp)
add_executable(jaco_calibration src/jacoTests/calibration.cpp)
target_link_libraries(jaco_calibration ${catkin_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(jaco_calibration perception3d_gencpp)
add_executable(testMoveit src/moveitTest/testMoveit.cpp)
target_link_libraries(testMoveit ${catkin_LIBRARIES} ${PCL_LIBRARIES} lperception)
add_dependencies(testMoveit perception3d_gencpp)
add_executable(terminalListener src/moveitTest/terminalListener.cpp)
target_link_libraries(terminalListener ${catkin_LIBRARIES} ${PCL_LIBRARIES})
add_executable(arm_action_server src/moveitPlugin/arm_action_server.cpp)
target_link_libraries(arm_action_server ${catkin_LIBRARIES} ${PCL_LIBRARIES})
add_executable( moveit_jaco_listener src/moveitPlugin/moveit_jaco_listener.cpp)
target_link_libraries(moveit_jaco_listener ${catkin_LIBRARIES} ${PCL_LIBRARIES} lperception)
add_executable( data_publisher_joint_test src/data_publisher_joint_test.cpp)
target_link_libraries(data_publisher_joint_test ${catkin_LIBRARIES} ${PCL_LIBRARIES} lperception)
add_executable(redoPose src/moveitTest/redoPose.cpp)
target_link_libraries(redoPose ${catkin_LIBRARIES} ${PCL_LIBRARIES} lperception )