cartographer_ros/cartographer_rviz/CMakeLists.txt

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2.5 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
)
find_package(Cartographer REQUIRED)
include("${CARTOGRAPHER_CMAKE_DIR}/functions.cmake")
google_initialize_cartographer_project()
find_package(Boost REQUIRED COMPONENTS system iostreams)
find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES})
find_package(ZLIB REQUIRED)
catkin_package(
CATKIN_DEPENDS
message_runtime
${PACKAGE_DEPENDENCIES}
)
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)
SET(ALL_LIBRARIES "" CACHE INTERNAL "ALL_LIBRARIES")
add_subdirectory("cartographer_rviz")
# Create an empty file for the shared library we require for RViz.
set(DUMMY_SOURCE ${CMAKE_CURRENT_BINARY_DIR}/empty.cc)
add_custom_command(
OUTPUT ${DUMMY_SOURCE}
COMMAND cmake -E touch ${DUMMY_SOURCE}
DEPENDS ${ARG_SRCS}
)
add_library(cartographer_rviz_submaps_visualization ${DUMMY_SOURCE})
target_link_libraries(cartographer_rviz_submaps_visualization
${QT_LIBRARIES}
"-Wl,--whole-archive"
${ALL_LIBRARIES}
"-Wl,--no-whole-archive"
)
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}
)