X-lanni
140 lines
3.9 KiB
CMake
140 lines
3.9 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(rtabmap_odom)
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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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# To suppress PCL_ROOT warning
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if(POLICY CMP0074)
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cmake_policy(SET CMP0074 NEW)
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endif()
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if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
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# issues #1285 #1288
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find_library(
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builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
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PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
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NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
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)
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endif()
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find_package(ament_cmake_ros REQUIRED)
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find_package(cv_bridge REQUIRED)
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find_package(image_geometry REQUIRED)
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find_package(laser_geometry REQUIRED)
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find_package(message_filters REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(pcl_conversions REQUIRED)
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find_package(pcl_ros REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(rtabmap_conversions REQUIRED)
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find_package(rtabmap_msgs REQUIRED)
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find_package(rtabmap_util REQUIRED)
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find_package(rtabmap_sync REQUIRED)
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}/include
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)
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SET(Libraries
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cv_bridge
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image_geometry
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laser_geometry
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message_filters
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nav_msgs
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pcl_conversions
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pcl_ros
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rclcpp
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sensor_msgs
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rtabmap_conversions
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rtabmap_msgs
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rtabmap_util
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rtabmap_sync
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)
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###########
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## Build ##
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###########
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SET(rtabmap_odom_lib_src
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src/OdometryROS.cpp
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)
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SET(rtabmap_odom_plugins_lib_src
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src/nodelets/rgbd_odometry.cpp
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src/nodelets/stereo_odometry.cpp
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src/nodelets/icp_odometry.cpp
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)
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############################
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## Declare a cpp library
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############################
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add_library(rtabmap_odom SHARED ${rtabmap_odom_lib_src})
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target_include_directories(rtabmap_odom
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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add_library(rtabmap_odom_plugins SHARED ${rtabmap_odom_plugins_lib_src})
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ament_target_dependencies(rtabmap_odom ${Libraries})
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ament_target_dependencies(rtabmap_odom_plugins ${Libraries})
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target_link_libraries(rtabmap_odom_plugins rtabmap_odom)
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rclcpp_components_register_nodes(rtabmap_odom_plugins "rtabmap_odom::RGBDOdometry")
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rclcpp_components_register_nodes(rtabmap_odom_plugins "rtabmap_odom::StereoOdometry")
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rclcpp_components_register_nodes(rtabmap_odom_plugins "rtabmap_odom::ICPOdometry")
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add_executable(rtabmap_rgbd_odometry src/RGBDOdometryNode.cpp)
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ament_target_dependencies(rtabmap_rgbd_odometry ${Libraries})
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target_link_libraries(rtabmap_rgbd_odometry rtabmap_odom_plugins)
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set_target_properties(rtabmap_rgbd_odometry PROPERTIES OUTPUT_NAME "rgbd_odometry")
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add_executable(rtabmap_stereo_odometry src/StereoOdometryNode.cpp)
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ament_target_dependencies(rtabmap_stereo_odometry ${Libraries})
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target_link_libraries(rtabmap_stereo_odometry rtabmap_odom_plugins)
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set_target_properties(rtabmap_stereo_odometry PROPERTIES OUTPUT_NAME "stereo_odometry")
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add_executable(rtabmap_icp_odometry src/ICPOdometryNode.cpp)
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ament_target_dependencies(rtabmap_icp_odometry ${Libraries})
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target_link_libraries(rtabmap_icp_odometry rtabmap_odom_plugins)
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set_target_properties(rtabmap_icp_odometry PROPERTIES OUTPUT_NAME "icp_odometry")
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#############
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## Install ##
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#############
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ament_export_dependencies(${Libraries})
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ament_export_include_directories(include)
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ament_export_targets(${PROJECT_NAME}) # To include downstream with targets
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ament_export_libraries(rtabmap_odom rtabmap_odom_plugins) # To include downstream without targets
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install(TARGETS
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rtabmap_odom
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rtabmap_odom_plugins
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EXPORT ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(TARGETS
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rtabmap_rgbd_odometry
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rtabmap_icp_odometry
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rtabmap_stereo_odometry
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DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY include/
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DESTINATION include
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FILES_MATCHING PATTERN "*.h"
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)
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ament_package()
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