forked from zbw/yiliao2026
56 lines
1.4 KiB
CMake
56 lines
1.4 KiB
CMake
cmake_minimum_required(VERSION 3.8)
|
|
project(obstacle_scanner)
|
|
|
|
if(NOT CMAKE_CXX_STANDARD)
|
|
set(CMAKE_CXX_STANDARD 17)
|
|
endif()
|
|
|
|
find_package(ament_cmake REQUIRED)
|
|
find_package(rclcpp REQUIRED)
|
|
find_package(sensor_msgs REQUIRED)
|
|
find_package(std_msgs REQUIRED)
|
|
find_package(cv_bridge REQUIRED)
|
|
find_package(OpenCV REQUIRED)
|
|
find_package(Eigen3 REQUIRED)
|
|
find_package(rosidl_default_generators REQUIRED)
|
|
|
|
rosidl_generate_interfaces(${PROJECT_NAME}
|
|
"msg/Obstacle.msg"
|
|
"msg/ObstacleArray.msg"
|
|
DEPENDENCIES std_msgs
|
|
)
|
|
|
|
add_executable(obstacle_scanner_node src/obstacle_scanner_node.cpp)
|
|
target_compile_features(obstacle_scanner_node PUBLIC cxx_std_17)
|
|
target_include_directories(obstacle_scanner_node PUBLIC ${EIGEN3_INCLUDE_DIRS})
|
|
ament_target_dependencies(obstacle_scanner_node
|
|
rclcpp
|
|
sensor_msgs
|
|
std_msgs
|
|
cv_bridge
|
|
OpenCV
|
|
)
|
|
rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
|
|
target_link_libraries(obstacle_scanner_node ${cpp_typesupport_target})
|
|
|
|
install(TARGETS obstacle_scanner_node
|
|
DESTINATION lib/${PROJECT_NAME}
|
|
)
|
|
|
|
install(DIRECTORY
|
|
launch
|
|
config
|
|
DESTINATION share/${PROJECT_NAME}
|
|
)
|
|
|
|
ament_export_dependencies(rosidl_default_runtime)
|
|
|
|
if(BUILD_TESTING)
|
|
find_package(ament_lint_auto REQUIRED)
|
|
set(ament_cmake_copyright_FOUND TRUE)
|
|
set(ament_cmake_cpplint_FOUND TRUE)
|
|
ament_lint_auto_find_test_dependencies()
|
|
endif()
|
|
|
|
ament_package()
|