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[fix] find_package order of PCL and catkin #28

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Oct 8, 2024
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[fix] find_package order of PCL and catkin #28

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24 changes: 13 additions & 11 deletions mins/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,12 @@ set(CMAKE_CXX_EXTENSIONS OFF)
# Suppress unnecessary warnings: https://github.com/PointCloudLibrary/pcl/issues/3680
set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS 1 CACHE INTERNAL "No dev warnings")

# Enable compile optimizations
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")

# Enable debug flags (use if you want to debug in gdb)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -Wall -Wuninitialized -Wmaybe-uninitialized -fno-omit-frame-pointer")

# Include libraries (if we don't have opencv 4, then fallback to opencv 3)
# The OpenCV version needs to match the one used by cv_bridge otherwise you will get a segmentation fault!
find_package(Eigen3 REQUIRED QUIET)
Expand All @@ -20,22 +26,18 @@ if (NOT OpenCV_FOUND)
find_package(OpenCV 3 REQUIRED QUIET)
endif ()
find_package(Boost REQUIRED QUIET COMPONENTS system filesystem thread date_time program_options chrono)
find_package(PCL REQUIRED QUIET)
find_package(libpointmatcher REQUIRED QUIET)
find_package(libnabo REQUIRED QUIET)

message(STATUS "OPENCV: " ${OpenCV_VERSION} " | BOOST: " ${Boost_VERSION} " | LIBPOINTMATCHER: " ${libpointmatcher_VERSION})
message(STATUS "Eigen3: " ${Eigen3_VERSION} " | PCL: " ${PCL_VERSION} " | LIBNABO: " ${libnabo_VERSION})

# Enable compile optimizations
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -fsee -fomit-frame-pointer -fno-signed-zeros -fno-math-errno -funroll-loops")

# Enable debug flags (use if you want to debug in gdb)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g3 -Wall -Wuninitialized -Wmaybe-uninitialized -fno-omit-frame-pointer")

# Find ROS build system
find_package(catkin REQUIRED COMPONENTS roscpp rosbag tf std_msgs geometry_msgs sensor_msgs nav_msgs image_geometry visualization_msgs image_transport cv_bridge ov_core pcl_ros)

# Find PCL after find catkin
find_package(PCL REQUIRED QUIET)

message(STATUS "OPENCV: " ${OpenCV_VERSION} " | BOOST: " ${Boost_VERSION} " | LIBPOINTMATCHER: " ${libpointmatcher_VERSION})
message(STATUS "Eigen3: " ${Eigen3_VERSION} " | PCL: " ${PCL_VERSION} " | LIBNABO: " ${libnabo_VERSION})

add_definitions(-DROS_AVAILABLE=1)

# Add catkin packages
Expand Down Expand Up @@ -148,4 +150,4 @@ install(TARGETS subscribe
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
)
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