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CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(extract_data_from_bag)
set(CMAKE_CXX_STANDARD 17)
add_compile_options(-Wextra -Wpedantic)
set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rcpputils REQUIRED)
find_package(rosbag2_cpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(image_transport REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(PCL REQUIRED)
find_package(Boost REQUIRED
COMPONENTS system filesystem thread date_time program_options)
find_package(OpenCV REQUIRED)
include_directories(
include
${Boost_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS})
add_executable(extract_realsense_data_from_bag
src/extract_realsense_data_from_bag.cc)
ament_target_dependencies(extract_realsense_data_from_bag
rclcpp
rcpputils
rosbag2_cpp
std_msgs
sensor_msgs
geometry_msgs
nav_msgs
cv_bridge
image_transport
pcl_conversions)
target_link_libraries(extract_realsense_data_from_bag
${OpenCV_LIBS}
${Boost_LIBRARIES}
${PCL_LIBRARIES})
add_executable(extract_feynman_data_from_bag
src/extract_feynman_data_from_bag.cc)
ament_target_dependencies(extract_feynman_data_from_bag
rclcpp
rcpputils
rosbag2_cpp
std_msgs
sensor_msgs
geometry_msgs
nav_msgs
cv_bridge
image_transport
pcl_conversions)
target_link_libraries(extract_feynman_data_from_bag
${OpenCV_LIBS}
${Boost_LIBRARIES}
${PCL_LIBRARIES})
add_executable(data_record_to_bag
src/data_record_to_bag.cc)
ament_target_dependencies(data_record_to_bag
rclcpp
rcpputils
rosbag2_cpp
std_msgs
sensor_msgs
geometry_msgs
nav_msgs
cv_bridge
image_transport
pcl_conversions)
target_link_libraries(data_record_to_bag
${OpenCV_LIBS}
${Boost_LIBRARIES}
${PCL_LIBRARIES})
# Install nodes
install(
TARGETS
extract_realsense_data_from_bag
extract_feynman_data_from_bag
data_record_to_bag
DESTINATION lib/${PROJECT_NAME})
ament_package()