CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(vesc_driver)

find_package(catkin REQUIRED COMPONENTS nodelet pluginlib roscpp std_msgs serial message_generation)

####################
## Build messages ##
####################

add_message_files(DIRECTORY msg FILES VescStateStamped.msg VescFeedbackStamped.msg)
generate_messages(DEPENDENCIES std_msgs)

catkin_package(INCLUDE_DIRS include CATKIN_DEPENDS nodelet pluginlib roscpp std_msgs serial message_runtime)

############################
## Build node and nodelet ##
############################

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

# node executable
add_executable(vesc_driver_node src/vesc_driver_node.cpp
                                src/vesc_driver.cpp
                                src/vesc_interface.cpp
                                src/vesc_packet.cpp
                                src/vesc_packet_factory.cpp)
add_dependencies(vesc_driver_node ${catkin_EXPORTED_TARGETS})
target_link_libraries(vesc_driver_node ${catkin_LIBRARIES})

# nodelet library
add_library(vesc_driver_nodelet src/vesc_driver_nodelet.cpp
                                src/vesc_driver.cpp
                                src/vesc_interface.cpp
                                src/vesc_packet.cpp
                                src/vesc_packet_factory.cpp)
add_dependencies(vesc_driver_nodelet ${catkin_EXPORTED_TARGETS})
target_link_libraries(vesc_driver_nodelet ${catkin_LIBRARIES})

#############
## Install ##
#############

install(TARGETS vesc_driver_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

install(TARGETS vesc_driver_nodelet LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(FILES vesc_driver_nodelet.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)

#############
## Testing ##
#############

# TODO