cmake_minimum_required(VERSION 3.0.2)
project(upbot_init)

find_package(catkin REQUIRED COMPONENTS
  roscpp
  rospy
  std_msgs
  pibot_msgs
  geometry_msgs
)
catkin_package()
set(LIBUSB_INCLUDE_DIR /usr/include/libusb-1.0)
set(LIBUSB_LIBRARY /usr/lib/aarch64-linux-gnu/libusb-1.0.so)
# 寻找OpenCV库
find_package(OpenCV REQUIRED)
# 查找 Boost 库
find_package(Boost REQUIRED)

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

add_library(${PROJECT_NAME} SHARED
        src/uwb.cpp
        src/runL.cpp
        src/data.cpp
        src/Filter.cpp
        )

add_executable(${PROJECT_NAME}_node src/main.cpp)


target_link_libraries(${PROJECT_NAME}_node  ${catkin_LIBRARIES}  ${OpenCV_LIBS} ${Boost_LIBRARIES} pthread ${PROJECT_NAME} ${LIBUSB_LIBRARY})

