still debuging

CMakeLists.txt

@@ -20,9 +20,9 @@ find_package(catkin REQUIRED COMPONENTS
 ## System dependencies are found with CMake's conventions
 find_package(wolfcore REQUIRED)
 find_package(wolflaser REQUIRED)
-find_package(falkolib QUIET)
-find_package(PkgConfig)
-pkg_check_modules(csm QUIET csm)
+#find_package(falkolib QUIET)
+#find_package(PkgConfig)
+#pkg_check_modules(csm QUIET csm)
 # link_directories(${csm_LIBRARY_DIRS})
 
 # produces the XXXConfig.cmake file among other things
@@ -51,13 +51,14 @@ add_library(subscriber_${PROJECT_NAME}
   ${CMAKE_CURRENT_SOURCE_DIR}/src/subscriber_laser2d.cpp
 )
 
-if (falkolib_FOUND)
-	message("Found Falkolib. Compiling publisher_falko.")
+find_file(FALKO laser/processor/processor_loop_cosure_falko.h wolflaser_INCLUDE_DIRS)
+if (FALKO)
+	message("Found 'processor_loop_cosure_falko.h'. Compiling publisher_falko.")
 	target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_falko.cpp)
 endif()
 
 find_file(ICP laser/processor/processor_odom_icp.h wolflaser_INCLUDE_DIRS)
-if (NOT ICP)
+if (ICP)
 	message("Found 'processor_odom_icp.h'. Compiling publisher_odom_icp.")
 	target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_odom_icp.cpp)
 endif ()