110 lines
3.4 KiB
CMake
Executable File
110 lines
3.4 KiB
CMake
Executable File
# --- CMake version và project name ---
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cmake_minimum_required(VERSION 3.10)
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project(custom_planner)
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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 "${CMAKE_BINARY_DIR}/custom_planner")
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set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/custom_planner")
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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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# --- 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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)
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# --- Eigen và PCL definitions ---
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add_definitions(${EIGEN3_DEFINITIONS})
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# --- Core library: custom_planner ---
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# Tạo thư viện chính
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add_library(custom_planner
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src/custom_planner.cpp
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src/pathway.cc
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src/pose.cc
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src/Curve_common.cpp
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src/merge_path_calc.cpp
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)
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# --- Link các thư viện phụ thuộc ---
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target_link_libraries(custom_planner
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${Boost_LIBRARIES} # Boost
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visualization_msgs
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nav_msgs
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tf3
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tf3_geometry_msgs
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robot_time
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data_convert
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costmap_2d
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nav_core
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robot_protocol_msgs
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)
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# --- Include directories cho target ---
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target_include_directories(custom_planner
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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/${PROJECT_NAME}> # Khi install
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)
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# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
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install(TARGETS custom_planner
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EXPORT custom_planner-targets
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ARCHIVE DESTINATION lib # Thư viện tĩnh .a
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LIBRARY DESTINATION lib # Thư viện động .so
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RUNTIME DESTINATION bin # File thực thi (nếu có)
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INCLUDES DESTINATION include # Cài đặt include
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)
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# --- Xuất export set costmap_2dTargets thành file CMake module ---
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# --- Tạo file lib/cmake/custom_planner/costmap_2dTargets.cmake ---
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# --- File này chứa cấu hình giúp project khác có thể dùng ---
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# --- Find_package(custom_planner REQUIRED) ---
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# --- Target_link_libraries(my_app PRIVATE custom_planner::custom_planner) ---
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install(EXPORT custom_planner-targets
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FILE custom_planner-targets.cmake
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NAMESPACE custom_planner::
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DESTINATION lib/cmake/custom_planner
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)
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# --- Cài đặt headers ---
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION include/${PROJECT_NAME}
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)
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# # --- 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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# target_link_libraries(plugins
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# custom_planner
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# ${Boost_LIBRARIES}
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# yaml-cpp
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# robot_time
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# ) |