added contact sensor dependencies

Author: grassjelly

champ_gazebo/CMakeLists.txt

@@ -2,14 +2,41 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(champ_gazebo)
 
-find_package(catkin REQUIRED COMPONENTS)
+add_compile_options(-std=c++11)
 
-catkin_package()
+find_package(gazebo REQUIRED)
+
+find_package(catkin 
+  REQUIRED 
+  COMPONENTS
+  roscpp
+  urdf
+  champ
+  champ_msgs
+)
+
+catkin_package(
+   CATKIN_DEPENDS 
+   roscpp
+)
 
 install(PROGRAMS
   scripts/imu_sensor.py
   scripts/joints_controller.py
   scripts/odometry_tf.py
   scripts/odometry.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+)
+
+include_directories(
+  include
+  ${champ_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+  ${GAZEBO_INCLUDE_DIRS}
+)
+
+link_directories(${GAZEBO_LIBRARY_DIRS} ${catkin_LIBRARIES})
+list(APPEND CMAKE_CXX_FLAGS "${GAZEBO_CXX_FLAGS}")
+
+add_executable(contact_sensor src/contact_sensor.cpp)
+target_link_libraries(contact_sensor ${GAZEBO_LIBRARIES} pthread ${catkin_LIBRARIES} )

champ_gazebo/package.xml

@@ -10,11 +10,13 @@
   <license>BSD</license>
 
   <buildtool_depend>catkin</buildtool_depend>
+  <depend>roscpp</depend>
+  <depend>champ</depend>
+  <depend>champ_msgs</depend>
   <exec_depend>roslaunch</exec_depend>
   <exec_depend>gazebo_ros</exec_depend>
   <exec_depend>gazebo_ros_pkgs</exec_depend>
   <exec_depend>gazebo_ros_control</exec_depend>
   <exec_depend>gazebo_plugins</exec_depend>
   <exec_depend>ros_controllers</exec_depend>
-
 </package>