Add GPS launch params

asctec_autopilot/CMakeLists.txt

@@ -1,34 +1,48 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-set(ROS_BUILD_TYPE RelWithDebInfo)
-
-rosbuild_init()
-
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
-
-include_directories (${CMAKE_CURRENT_BINARY_DIR})
-
-# create autopilot library
-
-rosbuild_add_library (autopilot src/autopilot.cpp
-                                src/serial_interface.cpp
-                                src/crc16.cpp 
-                                src/telemetry.cpp)
-
-# create autopilot_nodelet library
-
-rosbuild_add_library (autopilot_nodelet src/autopilot_nodelet.cpp)
-target_link_libraries (autopilot_nodelet autopilot)
-
-# create autopilot_node executable
-
-rosbuild_add_executable(autopilot_node src/autopilot_node.cpp)
-target_link_libraries (autopilot_node autopilot)
+cmake_minimum_required(VERSION 2.8.3)
+project(asctec_autopilot)
+
+find_package(catkin REQUIRED COMPONENTS
+  asctec_msgs
+  diagnostic_updater
+  geometry_msgs
+  nav_msgs
+  nodelet
+  sensor_msgs
+  roscpp)
+
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES autopilot
+  CATKIN_DEPENDS
+    asctec_msgs
+    diagnostic_updater
+    nodelet
+    roscpp
+  )
+
+include_directories(include ${catkin_INCLUDE_DIRS})
+
+add_library(autopilot
+  src/autopilot.cpp
+  src/autopilot_nodelet.cpp
+  src/serial_interface.cpp
+  src/crc16.cpp
+  src/telemetry.cpp
+  )
+target_link_libraries(autopilot ${catkin_LIBRARIES})
+add_dependencies(autopilot ${catkin_EXPORTED_TARGETS})
+
+add_executable(autopilot_node
+  src/autopilot_node.cpp
+  )
+target_link_libraries(autopilot_node autopilot ${catkin_LIBRARIES})
+
+install(TARGETS autopilot autopilot_node
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  )
+
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  )