CMakeLists.txt

cmake_minimum_required(VERSION 3.10.2)
project(lidar_localization)

SET(CMAKE_BUILD_TYPE "Debug")
SET(CMAKE_CXX_FLAGS_RELEASE "$ENV{CXXFLAGS} -O3 -Wall")
add_compile_options(-std=c++14)

SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g -ggdb")

add_definitions(-std=c++14)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  pcl_ros
  geometry_msgs
  tf
  eigen_conversions
  message_generation 
  std_srvs

)

add_service_files(
   FILES
   saveMap.srv
)

generate_messages(
   DEPENDENCIES
   std_msgs
)

set(ALL_TARGET_LIBRARIES "")

include(cmake/geographic.cmake)
include(cmake/glog.cmake)
include(cmake/YAML.cmake)
include(cmake/PCL.cmake)

include_directories(include ${catkin_INCLUDE_DIRS})

include(cmake/global_defination.cmake)
catkin_package()

file(GLOB_RECURSE ALL_SRCS "*.cpp")
file(GLOB_RECURSE NODE_SRCS "src/*_node.cpp")

list(REMOVE_ITEM ALL_SRCS ${NODE_SRCS})

add_executable(front_end_node src/front_end_node.cpp ${ALL_SRCS})
add_dependencies(front_end_node ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
target_link_libraries(front_end_node ${catkin_LIBRARIES} ${ALL_TARGET_LIBRARIES} gflags)

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

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
install(
    TARGETS
        front_end_node
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

## Mark cpp header files for installation
install(
    DIRECTORY 
        include/
    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
    FILES_MATCHING PATTERN "*.h"
    PATTERN ".svn" EXCLUDE
)

## Mark other directories for installation:
install(
    DIRECTORY
        launch/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
    FILES_MATCHING PATTERN "*.launch"
)
install(
    DIRECTORY
        config/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
    FILES_MATCHING PATTERN "*.yaml"
)
install(
    DIRECTORY
        rviz/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz
    FILES_MATCHING PATTERN "*.rviz"
)