CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(force_torque_sensor)

if (CMAKE_VERSION VERSION_LESS "3.1")
    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
else()
    set(CMAKE_CXX_STANDARD 11)
    set(CMAKE_CXX_STANDARD_REQUIRED ON)
endif()

find_package(cmake_modules REQUIRED)

find_package(LibXml2 REQUIRED)
find_package(Eigen REQUIRED)
find_package(catkin REQUIRED COMPONENTS
  roscpp 
  message_generation 
  std_msgs
  geometry_msgs 
  hardware_interface
  force_torque_sensor_controller
  cmake_modules
)

catkin_package()


include_directories(include 
  ${LIBXML2_INCLUDE_DIR}
  ${catkin_INCLUDE_DIRS}
  ${EIGEN_INCLUDE_DIR}
  ATI_FTSensors/include
)

add_library(FTSensor
  src/FTSensor.cpp
  )

add_executable(ft_sensor_hw 
  src/ft_sensor_hw.cpp
)

add_dependencies(ft_sensor_hw 
  FTSensor
)

target_link_libraries(ft_sensor_hw
  FTSensor
  ${LIBXML2_LIBRARIES}
  ${catkin_LIBRARIES}
  ${EIGEN_LIBRARIES}
)

add_subdirectory(ATI_FTSensors)

add_executable(ati_sensor_node src/ati_sensor_node.cpp src/ati_ft_sensor_hw.cpp)
add_dependencies(ati_sensor_node FTSensors)
target_link_libraries(ati_sensor_node FTSensors ${catkin_LIBRARIES} ${EIGEN_LIBRARIES})
# target_link_libraries(ati_sensor_node /home/manuelb/manuelb_ws/devel/lib/libFTSensors.so ${catkin_LIBRARIES})