CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(twin_crawler_controller)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

## 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
  tf2
  tf2_ros
  message_generation
)

## 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, services and actions ##
################################################

## Generate messages in the 'msg' folder
add_message_files(
  FILES
  motor_response.msg
)

## Generate services in the 'srv' folder
add_service_files(
  FILES
  motor_request.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
  std_msgs
)

###################################
## catkin specific configuration ##
###################################

catkin_package(
  INCLUDE_DIRS include
#  LIBRARIES twin_crawler_controller
  CATKIN_DEPENDS roscpp rospy std_msgs message_runtime
#  DEPENDS system_lib
)

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

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

add_library(nidec_motor include/twin_crawler_controller/NidecMotor.cpp)

add_executable(twin_motor_driver src/twin_motor_driver.cpp)
target_link_libraries(twin_motor_driver ${catkin_LIBRARIES} nidec_motor)

add_executable(vehicle_controller src/vehicle_controller.cpp)
target_link_libraries(vehicle_controller ${catkin_LIBRARIES} nidec_motor)