73 lines
1.8 KiB
CMake
73 lines
1.8 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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cartographer_ros_msgs
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eigen_conversions
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geometry_msgs
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nav_msgs
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pcl_conversions
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rosbag
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roscpp
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roslib
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sensor_msgs
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tf2
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tf2_eigen
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tf2_ros
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urdf
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)
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find_package(cartographer REQUIRED)
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include("${CARTOGRAPHER_CMAKE_DIR}/functions.cmake")
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google_initialize_cartographer_project()
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google_enable_testing()
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find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES})
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include(FindPkgConfig)
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PKG_SEARCH_MODULE(YAMLCPP REQUIRED yaml-cpp>=0.5.1)
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catkin_package(
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CATKIN_DEPENDS
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message_runtime
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${PACKAGE_DEPENDENCIES}
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INCLUDE_DIRS ${PROJECT_NAME}
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)
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find_package(PCL REQUIRED COMPONENTS common io)
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find_package(Eigen3 REQUIRED)
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find_package(Boost REQUIRED COMPONENTS system iostreams)
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find_package(urdfdom_headers REQUIRED)
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if(DEFINED urdfdom_headers_VERSION)
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if(${urdfdom_headers_VERSION} GREATER 0.4.1)
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add_definitions(-DURDFDOM_HEADERS_HAS_SHARED_PTR_DEFS)
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endif()
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endif()
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add_subdirectory("cartographer_ros")
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install(DIRECTORY launch urdf configuration_files
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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)
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install(PROGRAMS scripts/tf_remove_frames.py
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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