diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3de46d0c3ee9c5b1a95b720b9394e590c3581b16..a0d2eb7672252d4e53545a1462bda8df8c324436 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,10 +4,6 @@ project(wolf_ros_gnss)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++14)
-# SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/wolf_ros_wrapper/cmake_modules")
-## 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
sensor_msgs
@@ -25,96 +21,14 @@ find_package(novatel_oem7_msgs QUIET)
## System dependencies are found with CMake's conventions
find_package(wolfcore REQUIRED)
find_package(wolfgnss REQUIRED)
+find_package(gnss_utils REQUIRED)
-## 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, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-## * add a build_depend tag for "message_generation"
-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-## but can be declared for certainty nonetheless:
-## * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-## * add "message_generation" and every package in MSG_DEP_SET to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * add "message_runtime" and every package in MSG_DEP_SET to
-## catkin_package(CATKIN_DEPENDS ...)
-## * uncomment the add_*_files sections below as needed
-## and list every .msg/.srv/.action file to be processed
-## * uncomment the generate_messages entry below
-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-# FILES
-# Message1.msg
-# Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-# FILES
-# Service1.srv
-# Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-# FILES
-# Action1.action
-# Action2.action
-# )
-
-## Generate added messages and services with any dependencies listed here
-#generate_messages(
-# DEPENDENCIES
-# iri_gnss_msgs
-#)
-
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-## * add "dynamic_reconfigure" to
-## find_package(catkin REQUIRED COMPONENTS ...)
-## * uncomment the "generate_dynamic_reconfigure_options" section below
-## and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-#generate_dynamic_reconfigure_options(
-# cfg/WolfROS.cfg
-#)
###################################
## 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 your 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
+# produces the XXXConfig.cmake file among other things
catkin_package(
-# INCLUDE_DIRS include
-# LIBRARIES wolf_ros1
-# CATKIN_DEPENDS roscpp sensor_msgs std_msgs
-# DEPENDS system_lib
)
###########
@@ -123,10 +37,6 @@ catkin_package(
set(INCLUDE_DIRS
include
- ${EIGEN_INCLUDE_DIRS}
- ${wolfcore_INCLUDE_DIRS}
- ${wolfgnss_INCLUDE_DIRS}
- ${gnss_utils_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
)
@@ -144,13 +54,6 @@ set(SUB_SRCS
src/subscriber_gnss_ublox.cpp
)
-set(LIBRARIES
- ${wolfcore_LIBRARIES}
- ${wolfgnss_LIBRARIES}
- ${iri_gnss_msgs_LIBRARIES}
- ${catkin_LIBRARIES}
- )
-
# OPTIONAL iri_gnss_msgs dependant code
if (iri_gnss_msgs_FOUND)
@@ -179,92 +82,33 @@ endif()
## Specify additional locations of header files
## Your package locations should be listed before other locations
-message("Wolf include path: ${wolfcore_INCLUDE_DIRS}")
-message("iri_gnss_msgs include path: ${iri_gnss_msgs_INCLUDE_DIRS}")
include_directories(${INCLUDE_DIRS})
-# link_directories(/usr/local/lib/iri-algorithms)
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-# src/${PROJECT_NAME}/wolf_ros.cpp
-# )
+
add_library(publisher_${PROJECT_NAME} ${PUB_SRCS})
add_library(subscriber_${PROJECT_NAME} ${SUB_SRCS})
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)
-# add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg"
-# set_target_properties(${PROJECT_NAME} PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-#add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)
-#add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
-if (iri_gnss_msgs_FOUND)
- add_dependencies(subscriber_${PROJECT_NAME} iri_gnss_msgs_generate_messages_cpp)
-endif()
-if (novatel_oem7_msgs_FOUND)
- add_dependencies(subscriber_${PROJECT_NAME} novatel_oem7_msgs_generate_messages_cpp)
-endif()
+# if (iri_gnss_msgs_FOUND)
+# add_dependencies(subscriber_${PROJECT_NAME} iri_gnss_msgs_generate_messages_cpp)
+# endif()
+# if (novatel_oem7_msgs_FOUND)
+# add_dependencies(subscriber_${PROJECT_NAME} novatel_oem7_msgs_generate_messages_cpp)
+# endif()
## Specify libraries to link a library or executable target against
-target_link_libraries(subscriber_${PROJECT_NAME} ${LIBRARIES})
-target_link_libraries(publisher_${PROJECT_NAME} ${LIBRARIES})
-
-#############
-## 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
-# install(PROGRAMS
-# scripts/my_python_script
-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}
-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-# FILES_MATCHING PATTERN "*.h"
-# PATTERN ".svn" EXCLUDE
-# )
+target_link_libraries(subscriber_${PROJECT_NAME}
+ wolfcore
+ wolfgnss
+ ${catkin_LIBRARIES}
+ )
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-# # myfile1
-# # myfile2
-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+if (iri_gnss_msgs_FOUND OR novatel_oem7_msgs_FOUND)
+ target_link_libraries(subscriber_${PROJECT_NAME} ${LIBRARIES})
+endif()
-#############
-## Testing ##
-#############
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_wolf_ros.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
+target_link_libraries(publisher_${PROJECT_NAME}
+ wolfcore
+ wolfgnss
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+ ${catkin_LIBRARIES}
+ )