RoboBuggy

cmake_minimum_required(VERSION 2.8.3)

project(buggysim)

find_package(catkin REQUIRED COMPONENTS message_generation roscpp roslib rosconsole std_msgs std_srvs rostime roscpp_serialization buggycommon)

find_package(Qt4 4.6 REQUIRED COMPONENTS QtCore QtGui)

include(${QT_USE_FILE})

find_package(Boost REQUIRED COMPONENTS thread)

include_directories(include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${QT_INCLUDE_DIRS})

link_directories(${catkin_LIBRARY_DIRS})

add_message_files(DIRECTORY msg FILES 

                  Velocity.msg)

#                  Color.msg Pose.msg Velocity.msg)

add_service_files(DIRECTORY srv FILES

                  Kill.srv

                  SetPen.srv

                  Spawn.srv

                  TeleportAbsolute.srv

                  TeleportRelative.srv)

generate_messages(DEPENDENCIES std_msgs std_srvs)

catkin_package(CATKIN_DEPENDS message_runtime buggycommon std_msgs std_srvs)

# Set up the dependencies for turtlesim_node

set(turtlesim_node_SRCS

  src/buggysim.cpp

  src/buggy.cpp

  src/sim_frame.cpp

)

set(turtlesim_node_HDRS

  include/buggysim/sim_frame.h

)

# apparently this is just what you do with QT

qt4_wrap_cpp(buggysim_node_MOCS ${turtlesim_node_HDRS})

# Build the turtlesim node?

# note the ${buggysim_node_MOCS}. this uses the variable we just set. 

add_executable(buggysim_node ${turtlesim_node_SRCS} ${buggysim_node_MOCS})

target_link_libraries(buggysim_node ${QT_LIBRARIES} ${catkin_LIBRARIES} ${Boost_LIBRARIES})

add_dependencies(buggysim_node turtlesim_gencpp)

# Build the teleop...thing. I thought it was a package, 

#  it obviously isn't

add_executable(buggy_teleop_key tutorials/teleop_turtle_key.cpp)

target_link_libraries(buggy_teleop_key ${catkin_LIBRARIES})

add_dependencies(buggy_teleop_key turtlesim_gencpp)

# Build draw_square. so many words

add_executable(buggy_draw_square tutorials/draw_square.cpp)

target_link_libraries(buggy_draw_square ${catkin_LIBRARIES} ${Boost_LIBRARIES})

add_dependencies(buggy_draw_square turtlesim_gencpp)

# but these words I know, it spawns a turtle that does follor the leader

add_executable(buggy_mimic tutorials/mimic.cpp)

target_link_libraries(buggy_mimic ${catkin_LIBRARIES})

add_dependencies(buggy_mimic turtlesim_gencpp)

# Install the built executables

install(TARGETS buggysim_node buggy_teleop_key buggy_draw_square buggy_mimic

  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

# Install the images into the correct folder.

install(DIRECTORY images

  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

  FILES_MATCHING PATTERN "*.png")