X-lanni
165 lines
4.1 KiB
CMake
165 lines
4.1 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(nav2_map_server)
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list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake_modules)
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find_package(ament_cmake REQUIRED)
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find_package(nav2_common REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_lifecycle REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(nav2_msgs REQUIRED)
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find_package(yaml_cpp_vendor REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(nav2_util REQUIRED)
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find_package(GRAPHICSMAGICKCPP REQUIRED)
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nav2_package()
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include_directories(include)
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set(map_server_executable map_server)
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set(map_saver_cli_executable map_saver_cli)
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set(map_saver_server_executable map_saver_server)
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set(costmap_filter_info_server_executable costmap_filter_info_server)
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add_executable(${map_server_executable}
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src/map_server/main.cpp)
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add_executable(${map_saver_cli_executable}
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src/map_saver/main_cli.cpp)
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add_executable(${map_saver_server_executable}
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src/map_saver/main_server.cpp)
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add_executable(${costmap_filter_info_server_executable}
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src/costmap_filter_info/main.cpp)
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set(map_io_library_name map_io)
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set(library_name ${map_server_executable}_core)
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add_library(${map_io_library_name} SHARED
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src/map_mode.cpp
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src/map_io.cpp)
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add_library(${library_name} SHARED
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src/map_server/map_server.cpp
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src/map_saver/map_saver.cpp
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src/costmap_filter_info/costmap_filter_info_server.cpp)
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set(map_io_dependencies
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yaml_cpp_vendor
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nav_msgs
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nav2_util
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tf2)
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set(map_server_dependencies
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rclcpp
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rclcpp_lifecycle
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rclcpp_components
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nav_msgs
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nav2_msgs
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yaml_cpp_vendor
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std_msgs
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nav2_util)
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set(map_saver_dependencies
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rclcpp
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rclcpp_lifecycle
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nav_msgs
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nav2_msgs
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nav2_util)
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ament_target_dependencies(${map_server_executable}
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${map_server_dependencies})
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ament_target_dependencies(${map_saver_cli_executable}
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${map_saver_dependencies})
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ament_target_dependencies(${map_saver_server_executable}
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${map_saver_dependencies})
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ament_target_dependencies(${costmap_filter_info_server_executable}
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${map_saver_dependencies})
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ament_target_dependencies(${library_name}
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${map_server_dependencies})
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ament_target_dependencies(${map_io_library_name}
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${map_io_dependencies})
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target_link_libraries(${library_name}
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${map_io_library_name})
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target_link_libraries(${map_server_executable}
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${library_name})
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if(WIN32)
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target_compile_definitions(${map_server_executable} PRIVATE
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YAML_CPP_DLL)
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endif()
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target_link_libraries(${map_saver_cli_executable}
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${library_name})
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target_link_libraries(${map_saver_server_executable}
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${library_name})
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target_link_libraries(${costmap_filter_info_server_executable}
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${library_name})
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target_include_directories(${map_io_library_name} SYSTEM PRIVATE
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${GRAPHICSMAGICKCPP_INCLUDE_DIRS})
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target_link_libraries(${map_io_library_name}
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${GRAPHICSMAGICKCPP_LIBRARIES})
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if(WIN32)
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target_compile_definitions(${map_io_library_name} PRIVATE
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YAML_CPP_DLL)
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endif()
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rclcpp_components_register_nodes(${library_name} "nav2_map_server::CostmapFilterInfoServer")
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rclcpp_components_register_nodes(${library_name} "nav2_map_server::MapSaver")
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rclcpp_components_register_nodes(${library_name} "nav2_map_server::MapServer")
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install(TARGETS
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${library_name} ${map_io_library_name}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin)
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install(TARGETS
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${map_server_executable} ${map_saver_cli_executable} ${map_saver_server_executable}
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${costmap_filter_info_server_executable}
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RUNTIME DESTINATION lib/${PROJECT_NAME})
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install(DIRECTORY include/
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DESTINATION include/)
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install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
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if(BUILD_TESTING)
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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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set(ament_cmake_copyright_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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find_package(ament_cmake_gtest REQUIRED)
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add_subdirectory(test)
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endif()
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ament_export_include_directories(include)
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ament_export_libraries(
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${library_name}
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${map_io_library_name}
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)
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ament_export_dependencies(${map_io_dependencies} ${map_server_dependencies})
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ament_package()
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