X-lanni
103 lines
2.3 KiB
CMake
103 lines
2.3 KiB
CMake
cmake_minimum_required(VERSION 3.5)
|
|
project(rtabmap_conversions)
|
|
|
|
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
|
add_compile_options(-Wall -Wextra -Wpedantic)
|
|
endif()
|
|
|
|
if(CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
|
|
# issues #1285 #1288
|
|
find_library(
|
|
builtin_interfaces__rosidl_generator_c_LIB NAMES builtin_interfaces__rosidl_generator_c
|
|
PATHS "/opt/ros/$ENV{ROS_DISTRO}/lib"
|
|
NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH REQUIRED
|
|
)
|
|
endif()
|
|
|
|
|
|
find_package(ament_cmake REQUIRED)
|
|
find_package(cv_bridge REQUIRED)
|
|
find_package(geometry_msgs REQUIRED)
|
|
find_package(image_geometry REQUIRED)
|
|
find_package(laser_geometry REQUIRED)
|
|
find_package(pcl_conversions REQUIRED)
|
|
find_package(rclcpp REQUIRED)
|
|
find_package(rtabmap_msgs REQUIRED)
|
|
find_package(sensor_msgs REQUIRED)
|
|
find_package(std_msgs REQUIRED)
|
|
find_package(tf2 REQUIRED)
|
|
find_package(tf2_eigen REQUIRED)
|
|
find_package(tf2_geometry_msgs REQUIRED)
|
|
|
|
find_package(RTABMap 0.22.0 REQUIRED)
|
|
|
|
include_directories(
|
|
${CMAKE_CURRENT_SOURCE_DIR}/include
|
|
)
|
|
|
|
# libraries
|
|
SET(Libraries
|
|
cv_bridge
|
|
geometry_msgs
|
|
image_geometry
|
|
laser_geometry
|
|
pcl_conversions
|
|
rclcpp
|
|
rtabmap_msgs
|
|
sensor_msgs
|
|
std_msgs
|
|
tf2
|
|
tf2_eigen
|
|
tf2_geometry_msgs
|
|
RTABMap
|
|
)
|
|
|
|
if("$ENV{ROS_DISTRO}" STRLESS "humble")
|
|
add_definitions(-DPRE_ROS_HUMBLE)
|
|
endif()
|
|
|
|
IF("$ENV{ROS_DISTRO}" STRLESS "iron")
|
|
add_definitions(-DPRE_ROS_IRON)
|
|
ENDIF()
|
|
|
|
###########
|
|
## Build ##
|
|
###########
|
|
|
|
add_library(rtabmap_conversions SHARED src/MsgConversion.cpp)
|
|
target_include_directories(rtabmap_conversions
|
|
PUBLIC
|
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
|
$<INSTALL_INTERFACE:include>
|
|
)
|
|
ament_target_dependencies(rtabmap_conversions ${Libraries})
|
|
|
|
IF("$ENV{ROS_DISTRO}" STRLESS "iron")
|
|
target_compile_definitions(rtabmap_conversions PUBLIC -DPRE_ROS_IRON)
|
|
ENDIF()
|
|
|
|
#############
|
|
## Install ##
|
|
#############
|
|
|
|
ament_export_dependencies(${Libraries})
|
|
ament_export_include_directories(include)
|
|
ament_export_targets(${PROJECT_NAME}) # To include downstream with targets
|
|
ament_export_libraries(rtabmap_conversions) # To include downstream without targets
|
|
|
|
install(TARGETS
|
|
rtabmap_conversions
|
|
EXPORT ${PROJECT_NAME}
|
|
ARCHIVE DESTINATION lib
|
|
LIBRARY DESTINATION lib
|
|
RUNTIME DESTINATION bin
|
|
)
|
|
|
|
install(DIRECTORY include/
|
|
DESTINATION include
|
|
FILES_MATCHING PATTERN "*.h"
|
|
)
|
|
|
|
ament_package()
|
|
|