132 lines
4.5 KiB
CMake
132 lines
4.5 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(origincar_base)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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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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# find dependencies
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find_package(ament_cmake REQUIRED)
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#find_package(actionlib REQUIRED)
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#find_package(actionlib_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(nav2_msgs REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclpy REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(std_srvs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(ackermann_msgs REQUIRED) # CHANGE
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find_package(origincar_msg REQUIRED) # CHANGE
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find_package(serial REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(origincar_description REQUIRED)
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find_package(robot_localization REQUIRED)
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# uncomment the following section in order to fill in
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/Position.msg"
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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include_directories(
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include
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${robot_localization_INCLUDE_DIRS}
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)
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set(origincar_base_node_SRCS
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src/origincar_base.cpp
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)
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add_executable(origincar_base_node src/origincar_base.cpp)
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ament_target_dependencies(origincar_base_node tf2_ros tf2 tf2_geometry_msgs rclcpp std_msgs geometry_msgs robot_localization nav_msgs std_srvs sensor_msgs ackermann_msgs serial origincar_msg origincar_description)
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add_library(wall_fit_core STATIC src/wall_fit_core.cpp)
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target_include_directories(wall_fit_core PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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add_library(wall_kalman_filter STATIC src/wall_kalman_filter.cpp)
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target_include_directories(wall_kalman_filter PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(wall_kalman_filter wall_fit_core)
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target_link_libraries(origincar_base_node wall_kalman_filter wall_fit_core)
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add_executable(wall_fit_calibrator src/wall_fit_calibrator.cpp)
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target_link_libraries(wall_fit_calibrator wall_fit_core)
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ament_target_dependencies(wall_fit_calibrator rclcpp sensor_msgs nav_msgs)
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add_executable(wall_localization_node src/wall_localization_node.cpp)
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target_link_libraries(wall_localization_node wall_fit_core)
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ament_target_dependencies(wall_localization_node rclcpp sensor_msgs nav_msgs geometry_msgs tf2_ros)
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add_executable(wall_preview_server src/wall_preview_server.cpp)
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target_link_libraries(wall_preview_server wall_fit_core pthread)
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ament_target_dependencies(wall_preview_server rclcpp sensor_msgs nav_msgs geometry_msgs)
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if(BUILD_TESTING)
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add_executable(wall_fit_core_test test/wall_fit_core_test.cpp)
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target_link_libraries(wall_fit_core_test wall_fit_core)
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add_test(NAME wall_fit_core_test COMMAND wall_fit_core_test)
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add_executable(wall_kalman_filter_test test/wall_kalman_filter_test.cpp)
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target_link_libraries(wall_kalman_filter_test wall_kalman_filter)
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add_test(NAME wall_kalman_filter_test COMMAND wall_kalman_filter_test)
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endif()
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#add_executable(testNode src/test.cpp src/Quaternion_Solution.cpp)
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#ament_target_dependencies(testNode rclcpp std_msgs nav_msgs std_srvs sensor_msgs ackermann_msgs serial origincar_msg)
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install(PROGRAMS
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scripts/cmd_vel_to_ackermann_drive.py
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DESTINATION lib/${PROJECT_NAME}
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)
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install(TARGETS
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origincar_base_node
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wall_fit_calibrator
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wall_localization_node
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wall_preview_server
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DESTINATION lib/${PROJECT_NAME}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(
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DIRECTORY launch config preview
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DESTINATION share/${PROJECT_NAME}
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)
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ament_package()
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