Merge pull request #6 from elephantrobotics/humble-dev
fix(livox_ros_driver2): update CMakeLists.txt
This commit is contained in:
X-lanni
+115
-311
@@ -1,336 +1,140 @@
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# judge which cmake codes to use
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# Copyright(c) 2020 livoxtech limited.
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if(ROS_EDITION STREQUAL "ROS1")
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# Copyright(c) 2019 livoxtech limited.
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cmake_minimum_required(VERSION 3.14)
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project(livox_ros_driver2)
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cmake_minimum_required(VERSION 3.0)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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#---------------------------------------------------------------------------------------
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if(NOT CMAKE_CXX_STANDARD)
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# Start livox_ros_driver2 project
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#---------------------------------------------------------------------------------------
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include(cmake/version.cmake)
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project(livox_ros_driver2 VERSION ${LIVOX_ROS_DRIVER2_VERSION} LANGUAGES CXX)
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message(STATUS "livox_ros_driver2 version: ${LIVOX_ROS_DRIVER2_VERSION}")
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#---------------------------------------------------------------------------------------
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# Add ROS Version MACRO
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#---------------------------------------------------------------------------------------
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add_definitions(-DBUILDING_ROS1)
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#---------------------------------------------------------------------------------------
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# find package and the dependecy
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#---------------------------------------------------------------------------------------
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find_package(Boost 1.54 REQUIRED COMPONENTS
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system
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thread
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chrono
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)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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sensor_msgs
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std_msgs
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message_generation
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rosbag
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pcl_ros
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)
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## Find pcl lib
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find_package(PCL REQUIRED)
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## Generate messages in the 'msg' folder
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add_message_files(FILES
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CustomPoint.msg
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CustomMsg.msg
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# Message2.msg
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)
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## Generate added messages and services with any dependencies listed here
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generate_messages(DEPENDENCIES
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std_msgs
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)
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find_package(PkgConfig)
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pkg_check_modules(APR apr-1)
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if (APR_FOUND)
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message(${APR_INCLUDE_DIRS})
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message(${APR_LIBRARIES})
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endif (APR_FOUND)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects als o need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also n eed
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catkin_package(CATKIN_DEPENDS
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roscpp rospy std_msgs message_runtime
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pcl_ros
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)
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#---------------------------------------------------------------------------------------
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# Set default build to release
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#---------------------------------------------------------------------------------------
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if(NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose Release or Debug" FORCE)
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endif()
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#---------------------------------------------------------------------------------------
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# Compiler config
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#---------------------------------------------------------------------------------------
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD 14)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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endif()
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set(CMAKE_CXX_EXTENSIONS OFF)
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## make sure the livox_lidar_sdk_static library is installed
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list(INSERT CMAKE_MODULE_PATH 0 "${PROJECT_SOURCE_DIR}/cmake/modules")
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find_library(LIVOX_LIDAR_SDK_LIBRARY liblivox_lidar_sdk_static.a /usr/local/lib)
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## PCL library
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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link_directories(${PCL_LIBRARY_DIRS})
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add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter)
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add_definitions(${PCL_DEFINITIONS})
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endif()
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#---------------------------------------------------------------------------------------
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# Printf version info
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# generate excutable and add libraries
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include(cmake/version.cmake)
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#---------------------------------------------------------------------------------------
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project(${PROJECT_NAME} VERSION ${LIVOX_ROS_DRIVER2_VERSION} LANGUAGES CXX)
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add_executable(${PROJECT_NAME}_node
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message(STATUS "${PROJECT_NAME} version: ${LIVOX_ROS_DRIVER2_VERSION}")
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""
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)
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#---------------------------------------------------------------------------------------
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#---------------------------------------------------------------------------------------
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# precompile macro and compile option
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# Add ROS Version MACRO
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#---------------------------------------------------------------------------------------
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#---------------------------------------------------------------------------------------
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target_compile_options(${PROJECT_NAME}_node
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add_definitions(-DBUILDING_ROS2)
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PRIVATE $<$<CXX_COMPILER_ID:GNU>:-Wall>
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)
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#---------------------------------------------------------------------------------------
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# find dependencies
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# add projects that depend on
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# uncomment the following section in order to fill in
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#---------------------------------------------------------------------------------------
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# further dependencies manually.
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add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_generate_messages_cpp)
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# find_package(<dependency> REQUIRED)
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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find_package(PCL REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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#---------------------------------------------------------------------------------------
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# check apr
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# source file
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find_package(PkgConfig)
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#---------------------------------------------------------------------------------------
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pkg_check_modules(APR apr-1)
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target_sources(${PROJECT_NAME}_node
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if (APR_FOUND)
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PRIVATE
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message(${APR_INCLUDE_DIRS})
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src/driver_node.cpp
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message(${APR_LIBRARIES})
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src/lds.cpp
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endif (APR_FOUND)
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src/lds_lidar.cpp
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src/lddc.cpp
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src/livox_ros_driver2.cpp
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src/comm/comm.cpp
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# generate custom msg headers
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src/comm/ldq.cpp
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set(LIVOX_INTERFACES livox_interfaces2)
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src/comm/semaphore.cpp
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rosidl_generate_interfaces(${LIVOX_INTERFACES}
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src/comm/lidar_imu_data_queue.cpp
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"msg/CustomPoint.msg"
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src/comm/cache_index.cpp
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"msg/CustomMsg.msg"
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src/comm/pub_handler.cpp
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DEPENDENCIES builtin_interfaces std_msgs
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LIBRARY_NAME ${PROJECT_NAME}
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)
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src/parse_cfg_file/parse_cfg_file.cpp
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## make sure the livox_lidar_sdk_shared library is installed
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src/parse_cfg_file/parse_livox_lidar_cfg.cpp
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find_library(LIVOX_LIDAR_SDK_LIBRARY liblivox_lidar_sdk_shared.so /usr/local/lib REQUIRED)
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src/call_back/lidar_common_callback.cpp
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##
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src/call_back/livox_lidar_callback.cpp
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find_path(LIVOX_LIDAR_SDK_INCLUDE_DIR
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)
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NAMES "livox_lidar_api.h" "livox_lidar_def.h"
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REQUIRED)
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#---------------------------------------------------------------------------------------
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## PCL library
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# include file
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link_directories(${PCL_LIBRARY_DIRS})
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#---------------------------------------------------------------------------------------
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add_definitions(${PCL_DEFINITIONS})
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target_include_directories(${PROJECT_NAME}_node
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PUBLIC
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${catkin_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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${APR_INCLUDE_DIRS}
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3rdparty
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src
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)
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#---------------------------------------------------------------------------------------
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# livox ros2 driver target
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# link libraries
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ament_auto_add_library(${PROJECT_NAME} SHARED
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#---------------------------------------------------------------------------------------
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src/livox_ros_driver2.cpp
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target_link_libraries(${PROJECT_NAME}_node
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src/lddc.cpp
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${LIVOX_LIDAR_SDK_LIBRARY}
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src/driver_node.cpp
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${Boost_LIBRARY}
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src/lds.cpp
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${catkin_LIBRARIES}
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src/lds_lidar.cpp
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${PCL_LIBRARIES}
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${APR_LIBRARIES}
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)
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src/comm/comm.cpp
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src/comm/ldq.cpp
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src/comm/semaphore.cpp
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src/comm/lidar_imu_data_queue.cpp
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src/comm/cache_index.cpp
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src/comm/pub_handler.cpp
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#---------------------------------------------------------------------------------------
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src/parse_cfg_file/parse_cfg_file.cpp
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# Install
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src/parse_cfg_file/parse_livox_lidar_cfg.cpp
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#---------------------------------------------------------------------------------------
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install(TARGETS ${PROJECT_NAME}_node
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src/call_back/lidar_common_callback.cpp
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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src/call_back/livox_lidar_callback.cpp
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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)
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY launch_ROS1/
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target_include_directories(${PROJECT_NAME} PRIVATE ${livox_sdk_INCLUDE_DIRS})
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch_ROS1
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)
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#---------------------------------------------------------------------------------------
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# livox ros2 driver target
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# end of CMakeList.txt
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rosidl_get_typesupport_target(cpp_typesupport_target
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#---------------------------------------------------------------------------------------
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${LIVOX_INTERFACES} "rosidl_typesupport_cpp")
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target_link_libraries(${PROJECT_NAME} "${cpp_typesupport_target}")
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# include file direcotry
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target_include_directories(${PROJECT_NAME} PUBLIC
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${PCL_INCLUDE_DIRS}
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${APR_INCLUDE_DIRS}
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${LIVOX_LIDAR_SDK_INCLUDE_DIR}
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${LIVOX_INTERFACES_INCLUDE_DIRECTORIES} # for custom msgs
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3rdparty
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src
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)
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else(ROS_EDITION STREQUAL "ROS2")
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# link libraries
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target_link_libraries(${PROJECT_NAME}
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${LIVOX_LIDAR_SDK_LIBRARY}
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${LIVOX_INTERFACE_TARGET} # for custom msgs
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${PPT_LIBRARY}
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${Boost_LIBRARY}
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${PCL_LIBRARIES}
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${APR_LIBRARIES}
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)
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# Copyright(c) 2020 livoxtech limited.
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rclcpp_components_register_node(${PROJECT_NAME}
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PLUGIN "livox_ros::DriverNode"
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EXECUTABLE ${PROJECT_NAME}_node
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)
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cmake_minimum_required(VERSION 3.14)
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if(BUILD_TESTING)
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project(livox_ros_driver2)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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# Default to C99
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ament_auto_package(INSTALL_TO_SHARE
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if(NOT CMAKE_C_STANDARD)
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config
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set(CMAKE_C_STANDARD 99)
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launch_ROS2
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endif()
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)
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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list(INSERT CMAKE_MODULE_PATH 0 "${PROJECT_SOURCE_DIR}/cmake/modules")
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter)
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endif()
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# Printf version info
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include(cmake/version.cmake)
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project(${PROJECT_NAME} VERSION ${LIVOX_ROS_DRIVER2_VERSION} LANGUAGES CXX)
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message(STATUS "${PROJECT_NAME} version: ${LIVOX_ROS_DRIVER2_VERSION}")
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#---------------------------------------------------------------------------------------
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# Add ROS Version MACRO
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#---------------------------------------------------------------------------------------
|
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add_definitions(-DBUILDING_ROS2)
|
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||||||
|
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# find dependencies
|
|
||||||
# uncomment the following section in order to fill in
|
|
||||||
# further dependencies manually.
|
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||||||
# find_package(<dependency> REQUIRED)
|
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||||||
find_package(ament_cmake_auto REQUIRED)
|
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||||||
ament_auto_find_build_dependencies()
|
|
||||||
find_package(PCL REQUIRED)
|
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find_package(std_msgs REQUIRED)
|
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||||||
find_package(builtin_interfaces REQUIRED)
|
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||||||
find_package(rosidl_default_generators REQUIRED)
|
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|
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# check apr
|
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find_package(PkgConfig)
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pkg_check_modules(APR apr-1)
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if (APR_FOUND)
|
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message(${APR_INCLUDE_DIRS})
|
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||||||
message(${APR_LIBRARIES})
|
|
||||||
endif (APR_FOUND)
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|
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# generate custom msg headers
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set(LIVOX_INTERFACES livox_interfaces2)
|
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||||||
rosidl_generate_interfaces(${LIVOX_INTERFACES}
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"msg/CustomPoint.msg"
|
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"msg/CustomMsg.msg"
|
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DEPENDENCIES builtin_interfaces std_msgs
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||||||
LIBRARY_NAME ${PROJECT_NAME}
|
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||||||
)
|
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||||||
|
|
||||||
## make sure the livox_lidar_sdk_shared library is installed
|
|
||||||
find_library(LIVOX_LIDAR_SDK_LIBRARY liblivox_lidar_sdk_shared.so /usr/local/lib REQUIRED)
|
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||||||
|
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||||||
##
|
|
||||||
find_path(LIVOX_LIDAR_SDK_INCLUDE_DIR
|
|
||||||
NAMES "livox_lidar_api.h" "livox_lidar_def.h"
|
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||||||
REQUIRED)
|
|
||||||
|
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||||||
## PCL library
|
|
||||||
link_directories(${PCL_LIBRARY_DIRS})
|
|
||||||
add_definitions(${PCL_DEFINITIONS})
|
|
||||||
|
|
||||||
# livox ros2 driver target
|
|
||||||
ament_auto_add_library(${PROJECT_NAME} SHARED
|
|
||||||
src/livox_ros_driver2.cpp
|
|
||||||
src/lddc.cpp
|
|
||||||
src/driver_node.cpp
|
|
||||||
src/lds.cpp
|
|
||||||
src/lds_lidar.cpp
|
|
||||||
|
|
||||||
src/comm/comm.cpp
|
|
||||||
src/comm/ldq.cpp
|
|
||||||
src/comm/semaphore.cpp
|
|
||||||
src/comm/lidar_imu_data_queue.cpp
|
|
||||||
src/comm/cache_index.cpp
|
|
||||||
src/comm/pub_handler.cpp
|
|
||||||
|
|
||||||
src/parse_cfg_file/parse_cfg_file.cpp
|
|
||||||
src/parse_cfg_file/parse_livox_lidar_cfg.cpp
|
|
||||||
|
|
||||||
src/call_back/lidar_common_callback.cpp
|
|
||||||
src/call_back/livox_lidar_callback.cpp
|
|
||||||
)
|
|
||||||
|
|
||||||
target_include_directories(${PROJECT_NAME} PRIVATE ${livox_sdk_INCLUDE_DIRS})
|
|
||||||
|
|
||||||
# get include directories of custom msg headers
|
|
||||||
if(HUMBLE_ROS STREQUAL "humble")
|
|
||||||
rosidl_get_typesupport_target(cpp_typesupport_target
|
|
||||||
${LIVOX_INTERFACES} "rosidl_typesupport_cpp")
|
|
||||||
target_link_libraries(${PROJECT_NAME} "${cpp_typesupport_target}")
|
|
||||||
else()
|
|
||||||
set(LIVOX_INTERFACE_TARGET "${LIVOX_INTERFACES}__rosidl_typesupport_cpp")
|
|
||||||
add_dependencies(${PROJECT_NAME} ${LIVOX_INTERFACES})
|
|
||||||
get_target_property(LIVOX_INTERFACES_INCLUDE_DIRECTORIES ${LIVOX_INTERFACE_TARGET} INTERFACE_INCLUDE_DIRECTORIES)
|
|
||||||
endif()
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|
||||||
|
|
||||||
# include file direcotry
|
|
||||||
target_include_directories(${PROJECT_NAME} PUBLIC
|
|
||||||
${PCL_INCLUDE_DIRS}
|
|
||||||
${APR_INCLUDE_DIRS}
|
|
||||||
${LIVOX_LIDAR_SDK_INCLUDE_DIR}
|
|
||||||
${LIVOX_INTERFACES_INCLUDE_DIRECTORIES} # for custom msgs
|
|
||||||
3rdparty
|
|
||||||
src
|
|
||||||
)
|
|
||||||
|
|
||||||
# link libraries
|
|
||||||
target_link_libraries(${PROJECT_NAME}
|
|
||||||
${LIVOX_LIDAR_SDK_LIBRARY}
|
|
||||||
${LIVOX_INTERFACE_TARGET} # for custom msgs
|
|
||||||
${PPT_LIBRARY}
|
|
||||||
${Boost_LIBRARY}
|
|
||||||
${PCL_LIBRARIES}
|
|
||||||
${APR_LIBRARIES}
|
|
||||||
)
|
|
||||||
|
|
||||||
rclcpp_components_register_node(${PROJECT_NAME}
|
|
||||||
PLUGIN "livox_ros::DriverNode"
|
|
||||||
EXECUTABLE ${PROJECT_NAME}_node
|
|
||||||
)
|
|
||||||
|
|
||||||
if(BUILD_TESTING)
|
|
||||||
find_package(ament_lint_auto REQUIRED)
|
|
||||||
# the following line skips the linter which checks for copyrights
|
|
||||||
# uncomment the line when a copyright and license is not present in all source files
|
|
||||||
#set(ament_cmake_copyright_FOUND TRUE)
|
|
||||||
# the following line skips cpplint (only works in a git repo)
|
|
||||||
# uncomment the line when this package is not in a git repo
|
|
||||||
#set(ament_cmake_cpplint_FOUND TRUE)
|
|
||||||
ament_lint_auto_find_test_dependencies()
|
|
||||||
endif()
|
|
||||||
|
|
||||||
ament_auto_package(INSTALL_TO_SHARE
|
|
||||||
config
|
|
||||||
launch_ROS2
|
|
||||||
)
|
|
||||||
|
|
||||||
endif()
|
|
||||||
Reference in New Issue
Block a user