X-lanni
63 lines
1.7 KiB
CMake
63 lines
1.7 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(slam_gmapping)
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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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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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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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set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -fuse-ld=lld -Wl,--disable-new-dtags")
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message(${CMAKE_SHARED_LINKER_FLAGS})
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(message_filters REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(visualization_msgs REQUIRED)
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find_package(openslam_gmapping REQUIRED)
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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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# remove the line when a copyright and license is 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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# remove the line when this package is 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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include_directories(include)
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add_executable(slam_gmapping src/slam_gmapping.cpp)
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ament_target_dependencies(slam_gmapping
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rclcpp
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tf2
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tf2_ros
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message_filters
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sensor_msgs
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nav_msgs
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tf2_geometry_msgs
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openslam_gmapping)
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install(TARGETS slam_gmapping
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DESTINATION lib/${PROJECT_NAME})
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install(DIRECTORY launch rviz
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DESTINATION share/${PROJECT_NAME})
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ament_package() |