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Build cartographer_ros with -O3. (#50) 

Most importantly this should fix #41. Before the ROS integration was built
unoptimized which caused performance issues.
master
Wolfgang Hess 2016-09-08 15:23:19 +02:00 committed by GitHub
parent 569826debf
commit 0cd8f047ed
5 changed files with 43 additions and 8 deletions
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24
cartographer_ros/CMakeLists.txt
View File

@ -28,7 +28,23 @@ set(PACKAGE_DEPENDENCIES
tf2_eigen tf2_eigen
) )
set(CMAKE_CXX_FLAGS "-std=c++11 -Wreorder") set(CMAKE_CXX_FLAGS "-pthread -std=c++11 -Wreorder")
if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
set(CMAKE_BUILD_TYPE Release)
endif()
if(CMAKE_BUILD_TYPE STREQUAL "Release")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -DNDEBUG")
elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -g -DNDEBUG")
elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.")
else()
message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
endif()
message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES}) find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES})
include_directories(${catkin_INCLUDE_DIRS}) include_directories(${catkin_INCLUDE_DIRS})
@ -77,15 +93,15 @@ link_directories(${Boost_LIBRARY_DIRS})
add_executable(cartographer_node add_executable(cartographer_node
src/cartographer_node_main.cc src/cartographer_node_main.cc
src/node_constants.h
src/msg_conversion.h
src/msg_conversion.cc src/msg_conversion.cc
src/time_conversion.h src/msg_conversion.h
src/node_constants.h
src/sensor_data.cc src/sensor_data.cc
src/sensor_data.h src/sensor_data.h
src/sensor_data_producer.cc src/sensor_data_producer.cc
src/sensor_data_producer.h src/sensor_data_producer.h
src/time_conversion.cc src/time_conversion.cc
src/time_conversion.h
) )
target_link_libraries(cartographer_node target_link_libraries(cartographer_node
${CARTOGRAPHER_LIBRARIES} ${CARTOGRAPHER_LIBRARIES}

21
cartographer_ros_msgs/CMakeLists.txt
View File

@ -13,8 +13,27 @@
# limitations under the License. # limitations under the License.
cmake_minimum_required(VERSION 2.8.3) cmake_minimum_required(VERSION 2.8.3)
project(cartographer_ros_msgs) project(cartographer_ros_msgs)
set(CMAKE_CXX_FLAGS "-std=c++0x ${CMAKE_CXX_FLAGS}")
set(CMAKE_CXX_FLAGS "-pthread -std=c++11 ${CMAKE_CXX_FLAGS}")
if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
set(CMAKE_BUILD_TYPE Release)
endif()
if(CMAKE_BUILD_TYPE STREQUAL "Release")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -DNDEBUG")
elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -g -DNDEBUG")
elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.")
else()
message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
endif()
message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation) find_package(catkin REQUIRED COMPONENTS geometry_msgs message_generation)
add_message_files( add_message_files(