CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(rrt_planner)

## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++11)

find_package(catkin REQUIRED COMPONENTS
  geometry_msgs
  nav_msgs
  roscpp
)

find_package(Boost 1.65 REQUIRED)

find_package(OpenCV REQUIRED)

include_directories(${OpenCV_INCLUDE_DIRS})

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES rrt_planner
  CATKIN_DEPENDS
    nav_msgs
    geometry_msgs
    roscpp
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

add_library(${PROJECT_NAME}
  src/rrt_planner.cpp
)

add_executable(${PROJECT_NAME}_node src/rrt_planner_node.cpp)

target_link_libraries(${PROJECT_NAME}
  ${catkin_LIBRARIES}
  ${OpenCV_LIBS}
)

target_link_libraries(${PROJECT_NAME}_node
  ${catkin_LIBRARIES}
  ${PROJECT_NAME}
)

install(TARGETS ${PROJECT_NAME}_node
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)