CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(particle_filter)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2 REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(Eigen3 REQUIRED)

add_executable(pf_node 
  src/particle_filter.cpp
  src/ros_sender.cpp
  src/noise.cpp
  src/robot.cpp
  src/pf_node.cpp
)
target_include_directories(pf_node PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
  ${EIGEN3_INCLUDE_DIRS})
target_compile_features(pf_node PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
ament_target_dependencies(pf_node
 rclcpp
 geometry_msgs
 tf2_ros
 tf2
 visualization_msgs
 sensor_msgs
)


install(TARGETS pf_node
  DESTINATION lib/${PROJECT_NAME})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()