CMakeLists.txt example with catkin

CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)

project(foo)


# find dependencies
find_package(catkin REQUIRED COMPONENTS message_generation roscpp std_msgs)
find_package(Boost REQUIRED)


# message generation
add_message_files(
  DIRECTORY msg
  FILES MyMessage.msg
)
generate_messages(
  DEPENDENCIES std_msgs
)

# export information to downstream packages
# must be called *before* the targets to generate them in the desired location in the devel space
catkin_package(
  CATKIN_DEPENDS message_runtime std_msgs
  CONFIG_EXTRAS "foo-extras.cmake"
  DEPENDS Boost
)


# setup targets
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
  ${Boost_INCLUDE_DIRS}
)

add_library(foo_lib src/lib.cpp)
target_link_libraries(foo_lib ${catkin_LIBRARIES})

add_executable(foo_bin src/bin.cpp)
add_dependencies(foo_bin foo_lib)


# install artifacts
install(
  DIRECTORY cmake
  DESTINATION share/${PROJECT_NAME})
install(
  DIRECTORY include/
  DESTINATION include
)
install(
  TARGETS foo_lib foo_bin
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

# tests
if(CATKIN_ENABLE_TESTING)
  catkin_add_gtest(${PROJECT_NAME}_gtest test/my_test.cpp)
  if(TARGET ${PROJECT_NAME}_gtest)
    target_link_libraries(
      ${PROJECT_NAME}_gtest
      ${catkin_LIBRARIES}
    )
  endif()
endif()