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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(lio_sam)
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
set(CMAKE_BUILD_TYPE Release)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclpy REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(pcl_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_sensor_msgs REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(tf2_ros REQUIRED)
set(OpenCV_STATIC ON)
find_package(OpenCV REQUIRED)
find_package(PCL REQUIRED)
find_package(GTSAM REQUIRED)
find_package(Eigen REQUIRED)
find_package(OpenMP REQUIRED)
include_directories(
include/lio_sam
)
rosidl_generate_interfaces(${PROJECT_NAME} "msg/CloudInfo.msg" "srv/SaveMap.srv" DEPENDENCIES std_msgs sensor_msgs)
if($ENV{ROS_DISTRO} STREQUAL "humble")
message(STATUS "Using ROS2 humble")
rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
else()
message(STATUS "Using ROS2 $ENV{ROS_DISTRO}")
endif()
if($ENV{ROS_DISTRO} STREQUAL "humble")
add_executable(${PROJECT_NAME}_featureExtraction src/featureExtraction.cpp)
ament_target_dependencies(${PROJECT_NAME}_featureExtraction rclcpp rclpy std_msgs sensor_msgs geometry_msgs nav_msgs pcl_msgs visualization_msgs tf2 tf2_ros tf2_eigen tf2_sensor_msgs tf2_geometry_msgs OpenCV PCL)
target_link_libraries(${PROJECT_NAME}_featureExtraction "${cpp_typesupport_target}")
add_executable(${PROJECT_NAME}_imageProjection src/imageProjection.cpp)
ament_target_dependencies(${PROJECT_NAME}_imageProjection rclcpp rclpy std_msgs sensor_msgs geometry_msgs nav_msgs pcl_msgs visualization_msgs pcl_msgs tf2 tf2_ros tf2_eigen tf2_sensor_msgs tf2_geometry_msgs OpenCV PCL)
target_link_libraries(${PROJECT_NAME}_imageProjection "${cpp_typesupport_target}")
add_executable(${PROJECT_NAME}_imuPreintegration src/imuPreintegration.cpp)
ament_target_dependencies(${PROJECT_NAME}_imuPreintegration rclcpp rclpy std_msgs sensor_msgs geometry_msgs nav_msgs pcl_msgs visualization_msgs tf2 tf2_ros tf2_eigen tf2_sensor_msgs tf2_geometry_msgs OpenCV PCL GTSAM Eigen)
target_link_libraries(${PROJECT_NAME}_imuPreintegration gtsam "${cpp_typesupport_target}")
add_executable(${PROJECT_NAME}_mapOptimization src/mapOptmization.cpp)
ament_target_dependencies(${PROJECT_NAME}_mapOptimization rclcpp rclpy std_msgs sensor_msgs geometry_msgs nav_msgs pcl_msgs visualization_msgs tf2 tf2_ros tf2_eigen tf2_sensor_msgs tf2_geometry_msgs OpenCV PCL GTSAM)
target_link_libraries(${PROJECT_NAME}_mapOptimization gtsam "${cpp_typesupport_target}")
else()
add_executable(${PROJECT_NAME}_featureExtraction src/featureExtraction.cpp)
ament_target_dependencies(${PROJECT_NAME}_featureExtraction rclcpp rclpy std_msgs sensor_msgs geometry_msgs nav_msgs pcl_msgs visualization_msgs tf2 tf2_ros tf2_eigen tf2_sensor_msgs tf2_geometry_msgs OpenCV PCL)
rosidl_target_interfaces(${PROJECT_NAME}_featureExtraction ${PROJECT_NAME} "rosidl_typesupport_cpp")
add_executable(${PROJECT_NAME}_imageProjection src/imageProjection.cpp)
ament_target_dependencies(${PROJECT_NAME}_imageProjection rclcpp rclpy std_msgs sensor_msgs geometry_msgs nav_msgs pcl_msgs visualization_msgs pcl_msgs tf2 tf2_ros tf2_eigen tf2_sensor_msgs tf2_geometry_msgs OpenCV PCL)
rosidl_target_interfaces(${PROJECT_NAME}_imageProjection ${PROJECT_NAME} "rosidl_typesupport_cpp")
add_executable(${PROJECT_NAME}_imuPreintegration src/imuPreintegration.cpp)
ament_target_dependencies(${PROJECT_NAME}_imuPreintegration rclcpp rclpy std_msgs sensor_msgs geometry_msgs nav_msgs pcl_msgs visualization_msgs tf2 tf2_ros tf2_eigen tf2_sensor_msgs tf2_geometry_msgs OpenCV PCL GTSAM Eigen)
target_link_libraries(${PROJECT_NAME}_imuPreintegration gtsam)
rosidl_target_interfaces(${PROJECT_NAME}_imuPreintegration ${PROJECT_NAME} "rosidl_typesupport_cpp")
add_executable(${PROJECT_NAME}_mapOptimization src/mapOptmization.cpp)
ament_target_dependencies(${PROJECT_NAME}_mapOptimization rclcpp rclpy std_msgs sensor_msgs geometry_msgs nav_msgs pcl_msgs visualization_msgs tf2 tf2_ros tf2_eigen tf2_sensor_msgs tf2_geometry_msgs OpenCV PCL GTSAM)
target_link_libraries(${PROJECT_NAME}_mapOptimization gtsam)
rosidl_target_interfaces(${PROJECT_NAME}_mapOptimization ${PROJECT_NAME} "rosidl_typesupport_cpp")
endif()
install(
DIRECTORY launch
DESTINATION share/${PROJECT_NAME}/
)
install(
DIRECTORY config
DESTINATION share/${PROJECT_NAME}/
)
install(
TARGETS ${PROJECT_NAME}_imageProjection
DESTINATION lib/${PROJECT_NAME}
)
install(
TARGETS ${PROJECT_NAME}_imuPreintegration
DESTINATION lib/${PROJECT_NAME}
)
install(
TARGETS ${PROJECT_NAME}_featureExtraction
DESTINATION lib/${PROJECT_NAME}
)
install(
TARGETS ${PROJECT_NAME}_mapOptimization
DESTINATION lib/${PROJECT_NAME}
)
install(
DIRECTORY "include/"
DESTINATION include
)
ament_export_include_directories(include)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
# set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
# set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()