CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(capabilities)

find_package(catkin REQUIRED COMPONENTS message_generation std_msgs std_srvs)

catkin_python_setup()

add_message_files(FILES
    Capability.msg
    CapabilityEvent.msg
    CapabilitySpec.msg
    Remapping.msg
    RunningCapability.msg
)

add_service_files(FILES
    EstablishBond.srv
    GetCapabilitySpec.srv
    FreeCapability.srv
    GetCapabilitySpecs.srv
    GetInterfaces.srv
    GetNodeletManagerName.srv
    GetProviders.srv
    GetRemappings.srv
    GetRunningCapabilities.srv
    GetSemanticInterfaces.srv
    StartCapability.srv
    StopCapability.srv
    UseCapability.srv
)

generate_messages(DEPENDENCIES std_msgs std_srvs)

catkin_package(
  INCLUDE_DIRS include
  CATKIN_DEPENDS bondcpp roscpp
)

## Install scripts
catkin_install_python(PROGRAMS scripts/capability_server
  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

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

if(CATKIN_ENABLE_TESTING)
    find_package(rostest REQUIRED)
    catkin_add_nosetests(test)

    add_rostest(test/rostest/test_client/test_client_module.test)
    add_rostest(test/rostest/test_launch_manager/test_launch_manager.test)
    add_rostest(test/rostest/test_server/test_client.test)
    add_rostest(test/rostest/test_server/test_default_provider.test)
    add_rostest(test/rostest/test_server/test_dependent_capabilities.test)
    add_rostest(test/rostest/test_server/test_invalid_specs.test)
    add_rostest(test/rostest/test_server/test_package_white_black_lists.test)
    add_rostest(test/rostest/test_server/test_remapping.test)
    add_rostest(test/rostest/test_server/test_ros_services.test)
    add_rostest(test/rostest/test_server/test_white_black_lists.test)
    add_rostest(test/rostest/test_service_discovery/test_spec_index_from_service.test)

    find_package(catkin REQUIRED COMPONENTS bondcpp roscpp)
    include_directories(include ${catkin_INCLUDE_DIRS})
    add_rostest_gtest(capabilities_client_test
        test/rostest/test_client/test_client_cpp.test
        test/rostest/test_client/test_client_module.cpp
    )
    target_link_libraries(capabilities_client_test ${catkin_LIBRARIES})
    add_dependencies(capabilities_client_test ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
endif()