X-lanni
119 lines
3.3 KiB
CMake
119 lines
3.3 KiB
CMake
# Copyright 2016 The Cartographer Authors
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# Copyright 2022 Wyca Robotics (for the ROS2 conversion)
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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cmake_minimum_required(VERSION 3.5)
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project(cartographer_rviz)
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set(CMAKE_POSITION_INDEPENDENT_CODE TRUE)
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find_package(ament_cmake REQUIRED)
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# Default to C++17
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set(CMAKE_CXX_STANDARD 17)
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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)
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endif()
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set(CMAKE_AUTOMOC ON)
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find_package(cartographer REQUIRED)
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include("${CARTOGRAPHER_CMAKE_DIR}/functions.cmake")
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set(BUILD_SHARED_LIBS OFF)
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option(BUILD_GRPC "build features that require Cartographer gRPC support" false)
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google_initialize_cartographer_project()
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find_package(absl REQUIRED)
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find_package(cartographer_ros REQUIRED)
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find_package(cartographer_ros_msgs REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rviz_common REQUIRED)
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find_package(rviz_ogre_vendor REQUIRED)
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find_package(rviz_rendering REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(tf2_eigen REQUIRED)
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find_package(pcl_conversions REQUIRED)
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find_package(urdf REQUIRED)
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set(CMAKE_THREAD_PREFER_PTHREAD TRUE)
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set(THREADS_PREFER_PTHREAD_FLAG TRUE)
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find_package(Threads REQUIRED)
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set(rviz_plugins_headers_to_moc
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include/cartographer_rviz/drawable_submap.h
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include/cartographer_rviz/ogre_slice.h
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include/cartographer_rviz/submaps_display.h
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)
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add_library(${PROJECT_NAME} SHARED
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src/drawable_submap.cpp
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src/ogre_slice.cpp
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src/submaps_display.cpp
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${rviz_plugins_headers_to_moc}
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)
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target_include_directories(${PROJECT_NAME} PUBLIC
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"
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)
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target_link_libraries(${PROJECT_NAME} PUBLIC
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absl::synchronization
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cartographer
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cartographer_ros::cartographer_ros
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Eigen3::Eigen
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rclcpp::rclcpp
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rviz_common::rviz_common
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rviz_rendering::rviz_rendering
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tf2_ros::tf2_ros
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tf2_eigen::tf2_eigen
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)
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target_link_libraries(${PROJECT_NAME} PRIVATE
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pluginlib::pluginlib
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)
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pluginlib_export_plugin_description_file(rviz_common rviz_plugin_description.xml)
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register_rviz_ogre_media_exports(DIRECTORIES "ogre_media/materials/glsl120" "ogre_media/materials/scripts")
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install(
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TARGETS ${PROJECT_NAME}
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EXPORT ${PROJECT_NAME}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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INCLUDES DESTINATION include/${PROJECT_NAME}
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)
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install(
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DIRECTORY include/
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DESTINATION include/${PROJECT_NAME}
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)
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ament_export_include_directories(include/${PROJECT_NAME})
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ament_export_libraries(${PROJECT_NAME})
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ament_export_targets(${PROJECT_NAME} HAS_LIBRARY_TARGET)
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ament_export_dependencies(
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absl
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cartographer
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cartographer_ros
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eigen
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rclcpp
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rviz_common
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rviz_rendering
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tf2_ros
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)
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ament_package()
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