178 lines
4.6 KiB
CMake
178 lines
4.6 KiB
CMake
# Copyright 2016 The Cartographer Authors
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required(VERSION 2.8)
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project(cartographer_ros)
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set(PACKAGE_DEPENDENCIES
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eigen_conversions
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geometry_msgs
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cartographer_ros_msgs
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roscpp
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rviz
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sensor_msgs
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nav_msgs
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tf2
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tf2_eigen
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)
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set(CMAKE_CXX_FLAGS "-pthread -std=c++11 -Wreorder")
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if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
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set(CMAKE_BUILD_TYPE Release)
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endif()
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if(CMAKE_BUILD_TYPE STREQUAL "Release")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -DNDEBUG")
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elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -g -DNDEBUG")
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elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
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message(FATAL_ERROR "Cartographer is too slow to be useful in debug mode.")
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else()
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message(FATAL_ERROR "Unknown CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}")
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endif()
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message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
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find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES})
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include_directories(${catkin_INCLUDE_DIRS})
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catkin_package(
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CATKIN_DEPENDS
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message_runtime
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${PACKAGE_DEPENDENCIES}
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)
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find_package(PCL REQUIRED COMPONENTS common io)
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include_directories(${PCL_INCLUDE_DIRS})
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link_directories(${PCL_LIBRARY_DIRS})
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add_definitions(${PCL_DEFINITIONS})
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find_package(Eigen3 REQUIRED)
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include_directories(${EIGEN_INCLUDE_DIRS})
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find_package(cartographer REQUIRED)
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include_directories(${CARTOGRAPHER_INCLUDE_DIRS})
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link_directories(${CARTOGRAPHER_LIBRARY_DIRS})
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find_package(ZLIB REQUIRED)
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include_directories(${ZLIB_INCLUDE_DIRS})
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set(CMAKE_AUTOMOC ON)
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if(rviz_QT_VERSION VERSION_LESS "5")
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message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
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find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
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include(${QT_USE_FILE})
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else()
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message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
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find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
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set(QT_LIBRARIES Qt5::Widgets)
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endif()
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add_definitions(-DQT_NO_KEYWORDS)
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find_package(Boost REQUIRED
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COMPONENTS
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system
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iostreams
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)
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add_definitions(${BOOST_DEFINITIONS})
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include_directories(${Boost_INCLUDE_DIRS})
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link_directories(${Boost_LIBRARY_DIRS})
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add_executable(cartographer_node
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src/cartographer_node_main.cc
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src/msg_conversion.cc
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src/msg_conversion.h
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src/node_constants.h
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src/sensor_data.cc
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src/sensor_data.h
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src/sensor_data_producer.cc
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src/sensor_data_producer.h
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src/time_conversion.cc
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src/time_conversion.h
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)
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target_link_libraries(cartographer_node
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${CARTOGRAPHER_LIBRARIES}
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${catkin_LIBRARIES}
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${PCL_LIBRARIES}
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gflags # TODO(whess): Use or remove gflags_catkin.
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)
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add_dependencies(cartographer_node
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${catkin_EXPORTED_TARGETS}
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)
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add_library(cartographer_rviz_submaps_visualization
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src/drawable_submap.cc
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src/drawable_submap.h
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src/node_constants.h
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src/submaps_display.cc
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src/submaps_display.h
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)
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target_link_libraries(cartographer_rviz_submaps_visualization
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${Boost_LIBRARIES}
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${CARTOGRAPHER_LIBRARIES}
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${catkin_LIBRARIES}
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${QT_LIBRARIES}
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${ZLIB_LIBRARIES}
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)
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add_dependencies(cartographer_rviz_submaps_visualization
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${catkin_EXPORTED_TARGETS}
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)
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catkin_add_gtest(time_conversion_test
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src/time_conversion_test.cc
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src/time_conversion.h
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src/time_conversion.cc
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)
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target_link_libraries(time_conversion_test
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${GTEST_BOTH_LIBRARIES}
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${CARTOGRAPHER_LIBRARIES}
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${catkin_LIBRARIES}
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)
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add_dependencies(time_conversion_test
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${catkin_EXPORTED_TARGETS}
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)
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install(DIRECTORY launch/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch/
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)
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install(DIRECTORY urdf/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf/
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)
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install(DIRECTORY configuration_files/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/configuration_files/
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)
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install(TARGETS
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cartographer_rviz_submaps_visualization cartographer_node
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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_PACKAGE_BIN_DESTINATION}
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)
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install(FILES
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rviz_plugin_description.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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install(DIRECTORY ogre_media/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/ogre_media
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)
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