CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(pupbot)

find_package(catkin REQUIRED COMPONENTS
  dynamixel_workbench_toolbox
  geometry_msgs
  roscpp
  sensor_msgs
  std_msgs
  trajectory_msgs
)

catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS geometry_msgs roscpp sensor_msgs std_msgs trajectory_msgs
)

include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

add_executable(dynamixel_control src/dynamixel_control.cpp)
add_executable(inverse_kinematics src/inverse_kinematics.cpp)
add_executable(key_control src/key_control.cpp)
add_executable(posture_stabilization src/posture_stabilization.cpp)
add_executable(standing_motion src/standing_motion.cpp)
add_executable(trot_gait src/trot_gait.cpp)
target_link_libraries(dynamixel_control ${catkin_LIBRARIES})
target_link_libraries(inverse_kinematics ${catkin_LIBRARIES})
target_link_libraries(key_control ${catkin_LIBRARIES})
target_link_libraries(posture_stabilization ${catkin_LIBRARIES})
target_link_libraries(standing_motion ${catkin_LIBRARIES})
target_link_libraries(trot_gait ${catkin_LIBRARIES})

install(TARGETS dynamixel_control inverse_kinematics key_control posture_stabilization standing_motion trot_gait
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(DIRECTORY include
  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)