cmake_minimum_required(VERSION 2.8.3)
project(p600_experiment)

## 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
  message_generation  
  roscpp
  geometry_msgs
  nav_msgs
  sensor_msgs
  mavros
  std_msgs
  std_srvs
  tf2_ros
  tf2_eigen
  mavros_msgs
)

## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system)



################################################
## Declare ROS messages, services and actions ##
################################################

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  geometry_msgs 
  nav_msgs
  sensor_msgs
  std_msgs
)



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

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)


###############################
##      声明可执行cpp文件     ##
###############################

###### Main File ##########

##px4_pos_controller.cpp
#add_executable(px4_pos_controller src/px4_pos_controller.cpp)
#add_dependencies(px4_pos_controller prometheus_control_gencpp) 
#target_link_libraries(px4_pos_controller ${catkin_LIBRARIES})

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

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
)

## Mark other files for installation (e.g. launch and bag files, etc.)

foreach(_dir launch_detection config)
        install(DIRECTORY ${_dir}/
                DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${_dir})
endforeach(_dir)

## Mark other files for installation (e.g. launch and bag files, etc.)
 install(FILES
    package.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )


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

## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_prometheus_control.cpp)
# if(TARGET ${PROJECT_NAME}-test)
#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()

## Add folders to be run by python nosetests
# catkin_add_nosetests(test)