cmake_minimum_required(VERSION 3.1)
project(slam_karto)

if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 11)
endif()

find_package(catkin REQUIRED
  COMPONENTS
    message_filters
    nav_msgs
    rosconsole
    roscpp
    sensor_msgs
    sparse_bundle_adjustment
    tf
    visualization_msgs
    server
)
find_package(Eigen3 REQUIRED)

include_directories(include ${catkin_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})
add_definitions(${EIGEN3_DEFINITIONS})

catkin_package()

add_library(karto SHARED open_karto/Karto.cpp open_karto/Mapper.cpp)
target_link_libraries(karto ${Boost_LIBRARIES})

add_executable(slam_karto src/slam_karto.cpp src/spa_solver.cpp)
target_link_libraries(slam_karto ${catkin_LIBRARIES} karto std_lib glog)

# nodelets
add_executable(TF_pub src/TF_pub.cpp)
# add_library(laser_odom src/laser_odom.cpp)
target_link_libraries(TF_pub
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
)

install(TARGETS slam_karto
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)