CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(usb_cam)

## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
  image_transport
  roscpp
  std_msgs
  std_srvs
  sensor_msgs
  message_generation
  camera_info_manager
  move_base_msgs
  nodelet
  actionlib
)

add_service_files(
  FILES
  HandleTopic.srv
)

generate_messages(
  DEPENDENCIES
  std_msgs
)

# Use C++11
set(CMAKE_CXX_FLAGS "--std=c++11 ${CMAKE_CXX_FLAGS}")

## pkg-config libraries
find_package(PkgConfig REQUIRED)
pkg_check_modules(avcodec libavcodec REQUIRED)
pkg_check_modules(swscale libswscale REQUIRED)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS message_runtime
)

include_directories(include
  ${catkin_INCLUDE_DIRS}
  ${avcodec_INCLUDE_DIRS}
  ${swscale_INCLUDE_DIRS}
)

## Build the USB camera library
add_library(${PROJECT_NAME} src/usb_cam.cpp)
target_link_libraries(${PROJECT_NAME}
  ${avcodec_LIBRARIES}
  ${swscale_LIBRARIES}
  ${catkin_LIBRARIES}
)

## Build USB camera nodelet library
add_library(${PROJECT_NAME}_nodelet nodes/usb_cam_nodelet.cpp)
target_link_libraries(${PROJECT_NAME}_nodelet
  ${PROJECT_NAME}
  ${avcodec_LIBRARIES}
  ${swscale_LIBRARIES}
  ${catkin_LIBRARIES}
)

add_dependencies(usb_cam usb_cam_generate_messages_cpp)

## Declare a cpp executable
add_executable(${PROJECT_NAME}_node nodes/usb_cam_node.cpp)
target_link_libraries(${PROJECT_NAME}_node
  ${PROJECT_NAME}
  ${avcodec_LIBRARIES}
  ${swscale_LIBRARIES}
  ${catkin_LIBRARIES}
)

## Mark executables and/or libraries for installation
install(TARGETS ${PROJECT_NAME}_node ${PROJECT_NAME} ${PROJECT_NAME}_nodelet
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)

# Copy xml files
install(FILES package.xml nodelet_plugins.xml
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)

## Copy launch files
install(DIRECTORY launch/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
  FILES_MATCHING PATTERN "*.launch"
)

install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
)