111 lines
3.1 KiB
CMake
111 lines
3.1 KiB
CMake
# Copyright 2016 The Cartographer Authors
|
|
#
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
|
# you may not use this file except in compliance with the License.
|
|
# You may obtain a copy of the License at
|
|
#
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
|
#
|
|
# Unless required by applicable law or agreed to in writing, software
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
# See the License for the specific language governing permissions and
|
|
# limitations under the License.
|
|
|
|
cmake_minimum_required(VERSION 2.8)
|
|
|
|
project(cartographer_rviz)
|
|
|
|
set(PACKAGE_DEPENDENCIES
|
|
cartographer_ros_msgs
|
|
eigen_conversions
|
|
roscpp
|
|
rviz
|
|
)
|
|
|
|
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 ${PACKAGE_DEPENDENCIES})
|
|
include_directories(${catkin_INCLUDE_DIRS})
|
|
|
|
catkin_package(
|
|
CATKIN_DEPENDS
|
|
message_runtime
|
|
${PACKAGE_DEPENDENCIES}
|
|
)
|
|
|
|
find_package(cartographer REQUIRED)
|
|
include_directories(${CARTOGRAPHER_INCLUDE_DIRS})
|
|
link_directories(${CARTOGRAPHER_LIBRARY_DIRS})
|
|
|
|
find_package(ZLIB REQUIRED)
|
|
include_directories(${ZLIB_INCLUDE_DIRS})
|
|
|
|
set(CMAKE_AUTOMOC ON)
|
|
if(rviz_QT_VERSION VERSION_LESS "5")
|
|
message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
|
|
find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
|
|
include(${QT_USE_FILE})
|
|
else()
|
|
message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
|
|
find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
|
|
set(QT_LIBRARIES Qt5::Widgets)
|
|
endif()
|
|
add_definitions(-DQT_NO_KEYWORDS)
|
|
|
|
find_package(Boost REQUIRED
|
|
COMPONENTS
|
|
system
|
|
iostreams
|
|
)
|
|
add_definitions(${BOOST_DEFINITIONS})
|
|
include_directories(${Boost_INCLUDE_DIRS})
|
|
link_directories(${Boost_LIBRARY_DIRS})
|
|
|
|
add_library(cartographer_rviz_submaps_visualization
|
|
src/drawable_submap.cc
|
|
src/drawable_submap.h
|
|
src/submaps_display.cc
|
|
src/submaps_display.h
|
|
)
|
|
target_link_libraries(cartographer_rviz_submaps_visualization
|
|
${Boost_LIBRARIES}
|
|
${CARTOGRAPHER_LIBRARIES}
|
|
${QT_LIBRARIES}
|
|
${ZLIB_LIBRARIES}
|
|
${catkin_LIBRARIES}
|
|
)
|
|
add_dependencies(cartographer_rviz_submaps_visualization
|
|
${catkin_EXPORTED_TARGETS}
|
|
)
|
|
|
|
install(TARGETS cartographer_rviz_submaps_visualization
|
|
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
)
|
|
|
|
install(FILES rviz_plugin_description.xml
|
|
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
|
)
|
|
|
|
install(DIRECTORY ogre_media
|
|
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
|
)
|