File size: 2,374 Bytes
15b8951 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 | cmake_minimum_required(VERSION 3.8)
project(go2_navigation)
# Set CMake policy to use <PackageName>_ROOT variables
if(POLICY CMP0074)
cmake_policy(SET CMP0074 NEW)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# Set C++ standard
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(pcl_ros REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(PCL REQUIRED)
# Include directories
include_directories(include)
include_directories(${PCL_INCLUDE_DIRS})
# Compiler definitions
add_definitions(${PCL_DEFINITIONS})
# Common dependencies for all targets
set(dependencies
rclcpp
sensor_msgs
geometry_msgs
std_msgs
pcl_ros
pcl_conversions
tf2
tf2_ros
)
# Add executables
add_executable(lidar_to_pointcloud_node src/lidar_to_pointcloud_node.cpp)
ament_target_dependencies(lidar_to_pointcloud_node ${dependencies})
target_link_libraries(lidar_to_pointcloud_node ${PCL_LIBRARIES})
add_executable(pointcloud_aggregator_node src/pointcloud_aggregator_node.cpp)
ament_target_dependencies(pointcloud_aggregator_node ${dependencies})
target_link_libraries(pointcloud_aggregator_node ${PCL_LIBRARIES})
# Install targets
install(TARGETS
lidar_to_pointcloud_node
pointcloud_aggregator_node
DESTINATION lib/${PROJECT_NAME}
)
# Install include directory
install(DIRECTORY
include/
DESTINATION include/
)
# Install launch, config, map (system bringup + navigation/mapping)
install(DIRECTORY
launch
config
map
DESTINATION share/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package() |