CMakeLists.txt

PROJECT(reference_car)
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)

MESSAGE(STATUS "Compiling Dynamic Tracker")
MESSAGE(STATUS "Using compiler: ${CMAKE_CXX_COMPILER}")
MESSAGE(STATUS "Build Type: ${CMAKE_BUILD_TYPE}")
MESSAGE(STATUS "Arch: ${CMAKE_SYSTEM_PROCESSOR}")

# SET(CMAKE_CXX_FLAGS "-std=c++11 -Wall -Werror")
SET(CMAKE_CXX_FLAGS "-std=c++11 -Wall")

IF(${CMAKE_BUILD_TYPE} MATCHES "Release")
  MESSAGE(STATUS "Additional Flags for Release mode")
  SET(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -O2 -DNDEBUG")
ELSEIF(${CMAKE_BUILD_TYPE} MATCHES "Debug")
  MESSAGE(STATUS "Additional Flags for Debug mode")
  SET(CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -g")
ENDIF()

FIND_PACKAGE(Ceres REQUIRED)
INCLUDE_DIRECTORIES(${CERES_INCLUDE_DIRS})

INCLUDE($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
ROSBUILD_INIT()
SET(ROS_BUILD_STATIC_LIBS true)
SET(ROS_BUILD_SHARED_LIBS false)

MESSAGE(STATUS "ROS-Overrride Build Type: ${CMAKE_BUILD_TYPE}")
MESSAGE(STATUS "CXX Flags: ${CMAKE_CXX_FLAGS}")

SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
SET(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

SET(libs roslib roscpp rosbag glog gflags amrl-shared-lib lua5.1
    pthread)

ADD_SUBDIRECTORY(src/shared)
INCLUDE_DIRECTORIES(src/shared)
INCLUDE_DIRECTORIES(src)

ROSBUILD_ADD_EXECUTABLE(ekf_tracker
                        src/ekf_tracker/ekf_tracker_main.cc
                        src/ekf_tracker/ekf_tracker.cc)
TARGET_LINK_LIBRARIES(ekf_tracker ${libs})

ADD_EXECUTABLE(tracker_unit_tests
               src/tests/ekf_tracker_tests.cc)
TARGET_LINK_LIBRARIES(tracker_unit_tests gtest gtest_main ${libs})