X-lanni
88 lines
1.7 KiB
CMake
88 lines
1.7 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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cmake_policy(SET CMP0074 NEW)
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project(unitree_lidar_ros2)
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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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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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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)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(pcl_conversions REQUIRED)
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find_package(PCL REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(sensor_msgs REQUIRED)
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# SDK include path
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include_directories(
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include
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/usr/local/include/unitree_lidar_sdk
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${PCL_INCLUDE_DIRS}
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)
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add_definitions(${PCL_DEFINITIONS})
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# SDK library path by architecture
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if(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
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set(UNITREE_LIDAR_SDK_LIB
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/usr/local/lib/unitree_lidar_sdk/aarch64/libunilidar_sdk2.a
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)
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else()
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set(UNITREE_LIDAR_SDK_LIB
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/usr/local/lib/unitree_lidar_sdk/x86_64/libunilidar_sdk2.a
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)
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endif()
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add_executable(unitree_lidar_ros2_node
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src/unitree_lidar_ros2_node.cpp
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)
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target_link_libraries(
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unitree_lidar_ros2_node
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${UNITREE_LIDAR_SDK_LIB}
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${PCL_LIBRARIES}
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)
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ament_target_dependencies(
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unitree_lidar_ros2_node
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rclcpp
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std_msgs
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sensor_msgs
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geometry_msgs
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tf2_ros
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pcl_conversions
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)
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install(TARGETS
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unitree_lidar_ros2_node
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DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY launch/
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DESTINATION share/${PROJECT_NAME}/launch
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)
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install(DIRECTORY rviz/
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DESTINATION share/${PROJECT_NAME}/rviz
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)
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if(EXISTS "${CMAKE_CURRENT_SOURCE_DIR}/config")
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install(DIRECTORY config/
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DESTINATION share/${PROJECT_NAME}/config
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)
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endif()
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ament_package()
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