cmake_minimum_required(VERSION 2.8.3)
project(loitor_ros)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  cv_bridge
  image_transport
  message_generation
  sensor_msgs
  camera_info_manager
)

catkin_package(
  CATKIN_DEPENDS
  cv_bridge
  image_transport
  message_runtime
  sensor_msgs
)

include_directories(
  ${catkin_INCLUDE_DIRS}
)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -pthread")
set(CMAKE_C_COMPILER g++)  ### KEY
find_package(OpenCV REQUIRED)

include_directories(include ${catkin_INCLUDE_DIRS}  ${OpenCV_INCLUDE_DIRS})

include_directories("./lib/include")

add_library(loitorimu lib/src/loitorimu.c)
add_library(loitorusbcam lib/src/loitorusbcam.cpp)
add_dependencies(loitorusbcam loitorimu)
add_library(loitordriver src/loitordriver.cpp)
add_dependencies(loitordriver ${catkin_LIBRARIES})

add_executable(loitor_ros src/loitor_ros.cpp)
target_link_libraries(loitordriver ${catkin_LIBRARIES})
target_link_libraries(loitor_ros ${catkin_LIBRARIES} loitordriver)
target_link_libraries(loitor_ros loitorusbcam loitorimu usb-1.0 ${OpenCV_LIBS})