X-lanni
84 lines
2.0 KiB
CMake
84 lines
2.0 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(nav2_constrained_smoother)
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set(CMAKE_BUILD_TYPE Release) # significant Ceres optimization speedup
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find_package(ament_cmake REQUIRED)
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find_package(nav2_core REQUIRED)
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find_package(nav2_common REQUIRED)
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find_package(angles REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(nav2_util REQUIRED)
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find_package(nav2_msgs REQUIRED)
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find_package(nav2_costmap_2d REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(Ceres REQUIRED COMPONENTS SuiteSparse)
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set(CMAKE_CXX_STANDARD 17)
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if(${CERES_VERSION} VERSION_LESS_EQUAL 2.0.0)
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add_definitions(-DUSE_OLD_CERES_API)
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endif()
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nav2_package()
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set(library_name nav2_constrained_smoother)
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include_directories(
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include
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${CERES_INCLUDES}
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)
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set(dependencies
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angles
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rclcpp
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rclcpp_action
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nav2_msgs
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nav2_costmap_2d
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nav2_util
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nav2_core
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pluginlib
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)
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add_library(${library_name} SHARED src/constrained_smoother.cpp)
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target_link_libraries(${library_name} ${CERES_LIBRARIES})
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# prevent pluginlib from using boost
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target_compile_definitions(${library_name} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
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ament_target_dependencies(${library_name} ${dependencies})
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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set(ament_cmake_copyright_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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find_package(ament_cmake_gtest REQUIRED)
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add_subdirectory(test)
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endif()
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install(
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TARGETS
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${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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)
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install(DIRECTORY include/
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DESTINATION include/
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_export_include_directories(include)
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ament_export_libraries(${library_name})
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ament_export_dependencies(${dependencies})
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pluginlib_export_plugin_description_file(nav2_core nav2_constrained_smoother.xml)
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ament_package()
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