This is required to reuse code from cartographer_ros in cartographer_rviz. Otherwise linking fails with errors like these:
~~~
/usr/bin/ld: libcartographer_ros.a(msg_conversion.cc.o): relocation R_X86_64_32S against `_ZNSs4_Rep20_S_empty_rep_storageE' can not be use
d when making a shared object; recompile with -fPIC
~~~
While this could be fixed locally in cartographer_ros, it is a reasonable default to compile with `-fPIC` always.
This is done by replacing CMAKE_*_DIR variables with PROJECT_*_ variables so
that CMake uses correct paths when libcartographer is a subproject
Move AllFiles.cmake into the project binary dir instead of the root CMake binary dir,
use a project-dependent detect_changes target name
This makes overriding it from an upper level CMakeLists.txt possible, which is required
when doing a super-build which doesn't require installing libcartographer.
The Boost include directory was not correctly added, and the
headers of the project where always looked up at the source or
build directory, not where they are installed.
Currently, on xenial/kinetic the transitive dependencies on
libcartographer and its dependencies are not duplicated after
each library that depends on it in the linker command.
Add dependencies via target_link_libraries as PUBLIC.
It seems the new behavior which defaults to PRIVATE was
used implicitly causing transitive dependencies to be
omitted.
- Remove use of get_property(LOCATION in cmake where this is easy. This
reduces build warnings sufficiently to not drown out other important
information.
- Mark cairo a dependency in package.xml so rosdep pulls it in.
Tested using docker -t ros:kinetic, which is based on Xenial.
Holger Rapp
Jochen Sprickerhof
Wolfgang Hess
Juraj Oršulić
Damon Kohler
Atsushi Watanabe