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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(lidar_auto_docking)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
find_package(geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(angles REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclpy REQUIRED)
find_package(std_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(lidar_auto_docking_messages REQUIRED)
find_package(rclcpp_action REQUIRED)
add_executable(dock_coordinates src/dock_coordinates.cpp src/perception.cpp src/laser_processor.cpp src/linear_pose_filter_2d.cpp src/icp_2d.cpp src/tf2listener.cpp)
ament_target_dependencies(dock_coordinates geometry_msgs tf2 sensor_msgs rclcpp Eigen3 angles tf2_ros tf2_geometry_msgs lidar_auto_docking_messages)
#allow target to access header files defined in include
target_include_directories( dock_coordinates
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
add_executable(auto_dock src/autodock.cpp src/controller.cpp src/perception.cpp src/laser_processor.cpp src/linear_pose_filter_2d.cpp src/icp_2d.cpp src/tf2listener.cpp)
ament_target_dependencies(auto_dock nav_msgs geometry_msgs tf2 sensor_msgs rclcpp rclcpp_action Eigen3 angles tf2_ros tf2_geometry_msgs lidar_auto_docking_messages)
target_include_directories( auto_dock
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
ament_python_install_package(${PROJECT_NAME})
# Install Python executables
install(PROGRAMS
scripts/dock_robot.py
scripts/undock_robot.py
scripts/dock_saver.py
scripts/nav2_dock.py
DESTINATION lib/${PROJECT_NAME}
)
install(
DIRECTORY include/
DESTINATION include
)
install(
DIRECTORY
config
launch
initial_dock_pose
DESTINATION share/${PROJECT_NAME}
)
install(TARGETS
auto_dock
dock_coordinates
DESTINATION lib/${PROJECT_NAME})
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()