CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(point_cloud_transport)

find_package(catkin REQUIRED
        COMPONENTS
        dynamic_reconfigure
        message_filters
        pluginlib
        rosconsole
        roscpp
        roslib
        sensor_msgs
        rosgraph_msgs)

find_package(Boost REQUIRED)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS dynamic_reconfigure message_runtime message_filters pluginlib rosconsole roscpp roslib rosgraph_msgs sensor_msgs std_msgs
)

include_directories(include include/point_cloud_conversion include/point_cloud_transport ${catkin_INCLUDE_DIRS} ${draco_INCLUDE_DIR}/..)
link_directories(${draco_LIBRARY_DIR})

# Build libpoint_cloud_transport
add_library(${PROJECT_NAME}
        src/point_cloud_transport.cpp
        src/publisher.cpp
        src/single_subscriber_publisher.cpp
        src/subscriber.cpp
        )
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}
        ${Boost_LIBRARIES}
        ${catkin_LIBRARIES}
        )

# Build libpoint_cloud_transport_plugins
add_library(${PROJECT_NAME}_plugins src/manifest.cpp src/raw_publisher.cpp)
target_link_libraries(${PROJECT_NAME}_plugins ${PROJECT_NAME})

install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_plugins
        DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        COMPONENT main
        )
install(DIRECTORY include/${PROJECT_NAME}/
        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
        )

add_executable(republish src/republish.cpp)
target_link_libraries(republish ${PROJECT_NAME})

add_executable(list_transports src/list_transports.cpp)
target_link_libraries(list_transports
        ${PROJECT_NAME}
        ${catkin_LIBRARIES}
        )

install(TARGETS list_transports republish
        DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
        )

install(FILES default_plugins.xml
        DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
        )

install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
)

install(DIRECTORY launch
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)