282 lines
9.2 KiB
CMake
282 lines
9.2 KiB
CMake
# --- CMake version và project name ---
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cmake_minimum_required(VERSION 3.10)
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# ========================================================
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# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
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# ========================================================
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# Detect if building with Catkin
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if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
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set(BUILDING_WITH_CATKIN TRUE)
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message(STATUS "Building robot_costmap_2d with Catkin")
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else()
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set(BUILDING_WITH_CATKIN FALSE)
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message(STATUS "Building robot_costmap_2d with Standalone CMake")
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endif()
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project(robot_costmap_2d)
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# --- C++ standard và position independent code ---
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set(CMAKE_CXX_STANDARD 17) # Sử dụng C++17
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set(CMAKE_POSITION_INDEPENDENT_CODE ON) # Thư viện có thể build thành shared lib
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# --- RPATH settings: ưu tiên thư viện build tại chỗ ---
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# Dùng để runtime linker tìm thư viện đã build trước khi install
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set(CMAKE_SKIP_BUILD_RPATH FALSE)
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set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
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set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}/robot_costmap_2d")
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set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/robot_costmap_2d")
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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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# --- Dependencies ---
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# Tìm các thư viện cần thiết
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# find_package(tf3 REQUIRED) # Nếu dùng tf3
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find_package(Eigen3 REQUIRED) # Thư viện Eigen cho toán học
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find_package(Boost REQUIRED COMPONENTS system thread filesystem) # Boost: system, thread, filesystem
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find_package(GTest REQUIRED) # Google Test cho unit test
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find_package(PCL REQUIRED COMPONENTS common io) # Point Cloud Library
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if(BUILDING_WITH_CATKIN)
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find_package(catkin REQUIRED COMPONENTS
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robot_std_msgs
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robot_sensor_msgs
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geometry_msgs
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robot_nav_msgs
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robot_map_msgs
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robot_laser_geometry
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robot_visualization_msgs
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robot_voxel_grid
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tf3
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robot_tf3_geometry_msgs
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robot_tf3_sensor_msgs
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data_convert
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robot_xmlrpcpp
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robot_cpp
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robot_time
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)
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endif()
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# ========================================================
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# Catkin specific configuration
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES robot_costmap_2d plugins
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CATKIN_DEPENDS robot_std_msgs robot_sensor_msgs geometry_msgs robot_nav_msgs robot_map_msgs robot_laser_geometry robot_visualization_msgs robot_voxel_grid tf3 robot_tf3_geometry_msgs robot_tf3_sensor_msgs data_convert robot_xmlrpcpp robot_cpp robot_time
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DEPENDS Eigen3 PCL
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)
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endif()
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# --- Define macro để dùng trong code ---
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add_definitions(-DROBOT_COSTMAP_2D_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
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# --- Include directories ---
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# Thêm các folder chứa header files
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include_directories(
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include
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${EIGEN3_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${GTEST_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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)
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link_directories(${PCL_LIBRARY_DIRS}) # Thêm thư viện PCL vào linker path
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if(BUILDING_WITH_CATKIN)
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include_directories(${catkin_INCLUDE_DIRS})
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endif()
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# --- Eigen và PCL definitions ---
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add_definitions(${EIGEN3_DEFINITIONS} ${PCL_DEFINITIONS})
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# --- Core library: robot_costmap_2d ---
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# Tạo thư viện chính
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add_library(robot_costmap_2d
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src/costmap_2d_robot.cpp
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src/array_parser.cpp
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src/costmap_2d.cpp
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src/observation_buffer.cpp
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src/layer.cpp
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src/layered_costmap.cpp
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src/costmap_math.cpp
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src/footprint.cpp
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src/costmap_layer.cpp
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)
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# --- Link các thư viện phụ thuộc ---
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if(BUILDING_WITH_CATKIN)
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target_link_libraries(robot_costmap_2d
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${catkin_LIBRARIES}
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${Boost_LIBRARIES} # Boost
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yaml-cpp
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dl
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${PCL_LIBRARIES}
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)
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else()
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# Standalone mode: link dependencies with PUBLIC visibility to propagate include paths
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target_link_libraries(robot_costmap_2d
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PUBLIC
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robot_std_msgs
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robot_sensor_msgs
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geometry_msgs
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robot_nav_msgs
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robot_map_msgs
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robot_laser_geometry
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robot_visualization_msgs
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robot_voxel_grid
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tf3
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robot_tf3_geometry_msgs
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robot_tf3_sensor_msgs
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data_convert
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robot_xmlrpcpp # XMLRPC
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robot_cpp
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PRIVATE
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${Boost_LIBRARIES} # Boost
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yaml-cpp
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dl
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${PCL_LIBRARIES}
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)
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endif()
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# --- Include directories cho target ---
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target_include_directories(robot_costmap_2d
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PUBLIC
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${Boost_INCLUDE_DIRS} # Boost headers
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> # Khi build từ source
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$<INSTALL_INTERFACE:include/${PROJECT_NAME}> # Khi install
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)
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if(BUILDING_WITH_CATKIN)
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add_dependencies(robot_costmap_2d ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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endif()
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# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
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install(TARGETS robot_costmap_2d
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EXPORT robot_costmap_2d-targets
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ARCHIVE DESTINATION lib # Thư viện tĩnh .a
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LIBRARY DESTINATION lib # Thư viện động .so
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RUNTIME DESTINATION bin # File thực thi (nếu có)
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INCLUDES DESTINATION include # Cài đặt include
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)
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# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
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# --- Tạo file lib/cmake/robot_costmap_2d/robot_costmap_2dTargets.cmake ---
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# --- File này chứa cấu hình giúp project khác có thể dùng ---
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# --- Find_package(robot_costmap_2d REQUIRED) ---
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# --- Target_link_libraries(my_app PRIVATE robot_costmap_2d::robot_costmap_2d) ---
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install(EXPORT robot_costmap_2d-targets
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FILE robot_costmap_2d-targets.cmake
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NAMESPACE robot_costmap_2d::
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DESTINATION lib/cmake/robot_costmap_2d
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)
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# --- Cài đặt headers ---
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if(NOT BUILDING_WITH_CATKIN)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION include/${PROJECT_NAME}
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)
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endif()
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# --- Plugin libraries ---
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# Tạo các plugin shared library
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add_library(plugins
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SHARED
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plugins/static_layer.cpp
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plugins/obstacle_layer.cpp
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plugins/inflation_layer.cpp
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plugins/voxel_layer.cpp
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plugins/critical_layer.cpp
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plugins/directional_layer.cpp
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plugins/preferred_layer.cpp
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plugins/unpreferred_layer.cpp
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)
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if(BUILDING_WITH_CATKIN)
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target_link_libraries(plugins
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PRIVATE
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robot_costmap_2d
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${catkin_LIBRARIES}
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${Boost_LIBRARIES}
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yaml-cpp
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)
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else()
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# In standalone mode, robot_costmap_2d already has PUBLIC links to all dependencies
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# so we just need to link it with PUBLIC visibility to get the include paths
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target_link_libraries(plugins
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PUBLIC
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robot_costmap_2d
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PRIVATE
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${Boost_LIBRARIES}
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yaml-cpp
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robot_time
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robot_cpp
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)
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endif()
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set_target_properties(plugins PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
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)
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if(BUILDING_WITH_CATKIN)
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add_dependencies(plugins ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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endif()
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install(TARGETS plugins
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EXPORT plugins-targets
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ARCHIVE DESTINATION lib # Thư viện tĩnh .a
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LIBRARY DESTINATION lib # Thư viện động .so
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RUNTIME DESTINATION bin # File thực thi (nếu có)
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INCLUDES DESTINATION include # Cài đặt include
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)
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install(EXPORT plugins-targets
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FILE plugins-targets.cmake
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NAMESPACE robot_costmap_2d::
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DESTINATION lib/cmake/plugins
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)
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# --- Option để bật/tắt test ---
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option(BUILD_COSTMAP_TESTS "Build robot_costmap_2d test executables" ON)
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if(BUILD_COSTMAP_TESTS)
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# --- Test executables ---
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add_executable(test_array_parser test/array_parser_test.cpp)
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add_executable(test_costmap test/coordinates_test.cpp)
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add_executable(test_plugin test/static_layer_test.cpp)
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# --- Link thư viện cho test ---
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target_link_libraries(test_array_parser PRIVATE robot_costmap_2d GTest::GTest GTest::Main pthread)
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target_link_libraries(test_costmap PRIVATE robot_costmap_2d GTest::GTest GTest::Main pthread)
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target_link_libraries(test_plugin PRIVATE
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${Boost_LIBRARIES}
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Boost::filesystem
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Boost::system
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dl
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pthread
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yaml-cpp
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tf3
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robot_time
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robot_costmap_2d
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GTest::GTest GTest::Main
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)
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# --- Set RPATH để tìm thư viện của project này thay vì system ROS libraries ---
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set_target_properties(test_array_parser PROPERTIES
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BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/tf3"
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INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d"
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LINK_FLAGS "-Wl,--disable-new-dtags"
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)
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set_target_properties(test_costmap PROPERTIES
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BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/tf3"
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INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d"
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LINK_FLAGS "-Wl,--disable-new-dtags"
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)
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set_target_properties(test_plugin PROPERTIES
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BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/tf3"
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INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d"
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LINK_FLAGS "-Wl,--disable-new-dtags"
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)
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endif() |