cmake_minimum_required(VERSION 2.8.3)

set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c 11")

set(CMAKE_BUILD_TYPE Debug)

project(imu_talk)

## Find catkin and any catkin packages

find_package(catkin REQUIRED cmake_modules COMPONENTS roscpp rospy std_msgs sensor_msgs genmsg)

find_package(Eigen REQUIRED)

## Declare ROS messages and services

# add_message_files(FILES Num.msg)

# add_service_files(FILES AddTwoInts.srv)

## Generate added messages and services

generate_messages(DEPENDENCIES std_msgs sensor_msgs)

## Declare a catkin package

catkin_package(

DEPENDS Eigen

)

## Build talker and listener

include_directories(

include

${catkin_INCLUDE_DIRS}

${Eigen_INCLUDE_DIRS}

)

add_executable(listener src/listener.cpp)

target_link_libraries(listener

${catkin_LIBRARIES}

${Eigen_LIBRARIES}

)

add_library(LSM6 src/LSM6DS33.cpp)

add_library(LIS3 src/LIS3MDL.cpp)

add_library(I2C src/I2CBus.cpp)

add_library(IMU src/MinIMU9.cpp)

add_library(IMU_OP src/minimu9-ahrs.cpp)

add_executable(talker src/talker.cpp)

target_link_libraries(talker

${catkin_LIBRARIES}

${Eigen_LIBRARIES}

I2C

LSM6

LIS3

IMU

IMU_OP

)

#add_executable(tf_broadcaster src/tf_broadcaster.cpp)

#target_link_libraries(tf_broadcaster

# ${catkin_LIBRARIES}

# ${Eigen_LIBRARIES}

# I2C

# LSM6

# LIS3

# IMU

# IMU_OP

#)