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-cmake_minimum_required(VERSION 2.8.3)
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-project(bbb)
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-
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-## Compile as C++11, supported in ROS Kinetic and newer
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-# add_compile_options(-std=c++11)
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-
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-## Find catkin macros and libraries
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-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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-## is used, also find other catkin packages
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-find_package(catkin REQUIRED)
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-
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-## System dependencies are found with CMake's conventions
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-# find_package(Boost REQUIRED COMPONENTS system)
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-
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-
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-## Uncomment this if the package has a setup.py. This macro ensures
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-## modules and global scripts declared therein get installed
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-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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-# catkin_python_setup()
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-
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-################################################
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-## Declare ROS messages, services and actions ##
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-################################################
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-
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-## To declare and build messages, services or actions from within this
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-## package, follow these steps:
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-## * Let MSG_DEP_SET be the set of packages whose message types you use in
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-## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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-## * In the file package.xml:
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-## * add a build_depend tag for "message_generation"
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-## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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-## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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-## but can be declared for certainty nonetheless:
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-## * add a exec_depend tag for "message_runtime"
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-## * In this file (CMakeLists.txt):
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-## * add "message_generation" and every package in MSG_DEP_SET to
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-## find_package(catkin REQUIRED COMPONENTS ...)
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-## * add "message_runtime" and every package in MSG_DEP_SET to
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-## catkin_package(CATKIN_DEPENDS ...)
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-## * uncomment the add_*_files sections below as needed
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-## and list every .msg/.srv/.action file to be processed
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-## * uncomment the generate_messages entry below
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-## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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-
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-## Generate messages in the 'msg' folder
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-# add_message_files(
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-# FILES
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-# Message1.msg
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-# Message2.msg
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-# )
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-
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-## Generate services in the 'srv' folder
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-# add_service_files(
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-# FILES
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-# Service1.srv
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-# Service2.srv
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-# )
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-
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-## Generate actions in the 'action' folder
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-# add_action_files(
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-# FILES
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-# Action1.action
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-# Action2.action
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-# )
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-
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-## Generate added messages and services with any dependencies listed here
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-# generate_messages(
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-# DEPENDENCIES
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-# std_msgs # Or other packages containing msgs
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-# )
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-
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-################################################
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-## Declare ROS dynamic reconfigure parameters ##
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-################################################
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-
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-## To declare and build dynamic reconfigure parameters within this
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-## package, follow these steps:
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-## * In the file package.xml:
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-## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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-## * In this file (CMakeLists.txt):
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-## * add "dynamic_reconfigure" to
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-## find_package(catkin REQUIRED COMPONENTS ...)
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-## * uncomment the "generate_dynamic_reconfigure_options" section below
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-## and list every .cfg file to be processed
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-
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-## Generate dynamic reconfigure parameters in the 'cfg' folder
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-# generate_dynamic_reconfigure_options(
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-# cfg/DynReconf1.cfg
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-# cfg/DynReconf2.cfg
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-# )
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-
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-###################################
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-## catkin specific configuration ##
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-###################################
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-## The catkin_package macro generates cmake config files for your package
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-## Declare things to be passed to dependent projects
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-## INCLUDE_DIRS: uncomment this if your package contains header files
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-## LIBRARIES: libraries you create in this project that dependent projects also need
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-## CATKIN_DEPENDS: catkin_packages dependent projects also need
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-## DEPENDS: system dependencies of this project that dependent projects also need
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-catkin_package(
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-# INCLUDE_DIRS include
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-# LIBRARIES bbb
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-# CATKIN_DEPENDS other_catkin_pkg
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-# DEPENDS system_lib
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-)
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-
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-###########
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-## Build ##
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-###########
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-
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-## Specify additional locations of header files
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-## Your package locations should be listed before other locations
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-include_directories(
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-# include
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-# ${catkin_INCLUDE_DIRS}
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-)
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-
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-## Declare a C++ library
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-# add_library(${PROJECT_NAME}
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-# src/${PROJECT_NAME}/bbb.cpp
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-# )
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-
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-## Add cmake target dependencies of the library
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-## as an example, code may need to be generated before libraries
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-## either from message generation or dynamic reconfigure
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-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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-
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-## Declare a C++ executable
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-## With catkin_make all packages are built within a single CMake context
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-## The recommended prefix ensures that target names across packages don't collide
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-# add_executable(${PROJECT_NAME}_node src/bbb_node.cpp)
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-
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-## Rename C++ executable without prefix
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-## The above recommended prefix causes long target names, the following renames the
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-## target back to the shorter version for ease of user use
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-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
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-
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-## Add cmake target dependencies of the executable
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-## same as for the library above
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-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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-
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-## Specify libraries to link a library or executable target against
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-# target_link_libraries(${PROJECT_NAME}_node
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-# ${catkin_LIBRARIES}
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-# )
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-
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-#############
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-## Install ##
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-#############
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-
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-# all install targets should use catkin DESTINATION variables
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-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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-
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-## Mark executable scripts (Python etc.) for installation
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-## in contrast to setup.py, you can choose the destination
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-# install(PROGRAMS
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-# scripts/my_python_script
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-# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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-# )
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-
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-## Mark executables for installation
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-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
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-# install(TARGETS ${PROJECT_NAME}_node
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-# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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-# )
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-
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-## Mark libraries for installation
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-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
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-# install(TARGETS ${PROJECT_NAME}
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-# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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-# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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-# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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-# )
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-
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-## Mark cpp header files for installation
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-# install(DIRECTORY include/${PROJECT_NAME}/
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-# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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-# FILES_MATCHING PATTERN "*.h"
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-# PATTERN ".svn" EXCLUDE
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-# )
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-
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-## Mark other files for installation (e.g. launch and bag files, etc.)
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-# install(FILES
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-# # myfile1
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-# # myfile2
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-# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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-# )
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-
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-#############
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-## Testing ##
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-#############
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-
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-## Add gtest based cpp test target and link libraries
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-# catkin_add_gtest(${PROJECT_NAME}-test test/test_bbb.cpp)
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-# if(TARGET ${PROJECT_NAME}-test)
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-# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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-# endif()
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-
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-## Add folders to be run by python nosetests
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-# catkin_add_nosetests(test)
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liujingwei