91 lines
2.9 KiB
CMake
91 lines
2.9 KiB
CMake
# --- CMake version và project name ---
|
|
cmake_minimum_required(VERSION 3.10)
|
|
project(dock_planner)
|
|
|
|
# --- C++ standard và position independent code ---
|
|
set(CMAKE_CXX_STANDARD 17) # Sử dụng C++17
|
|
set(CMAKE_POSITION_INDEPENDENT_CODE ON) # Thư viện có thể build thành shared lib
|
|
|
|
# --- RPATH settings: ưu tiên thư viện build tại chỗ ---
|
|
# Dùng để runtime linker tìm thư viện đã build trước khi install
|
|
set(CMAKE_SKIP_BUILD_RPATH FALSE)
|
|
set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
|
|
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}/dock_planner")
|
|
set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/dock_planner")
|
|
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
|
|
|
|
# --- Dependencies ---
|
|
# Tìm các thư viện cần thiết
|
|
# find_package(tf3 REQUIRED) # Nếu dùng tf3
|
|
find_package(Eigen3 REQUIRED) # Thư viện Eigen cho toán học
|
|
find_package(Boost REQUIRED COMPONENTS system thread filesystem) # Boost: system, thread, filesystem
|
|
|
|
# --- Include directories ---
|
|
# Thêm các folder chứa header files
|
|
include_directories(
|
|
include
|
|
${EIGEN3_INCLUDE_DIRS}
|
|
${Boost_INCLUDE_DIRS}
|
|
)
|
|
|
|
# --- Eigen và PCL definitions ---
|
|
add_definitions(${EIGEN3_DEFINITIONS})
|
|
|
|
# --- Core library: dock_planner ---
|
|
# Tạo thư viện chính
|
|
add_library(dock_planner
|
|
src/dock_planner.cpp
|
|
src/dock_calc.cpp
|
|
src/utils/curve_common.cpp
|
|
src/utils/pose.cpp
|
|
src/utils/line_common.cpp
|
|
)
|
|
|
|
# --- Link các thư viện phụ thuộc ---
|
|
target_link_libraries(dock_planner
|
|
${Boost_LIBRARIES} # Boost
|
|
visualization_msgs
|
|
nav_msgs
|
|
tf3
|
|
tf3_geometry_msgs
|
|
robot_time
|
|
data_convert
|
|
costmap_2d
|
|
nav_core
|
|
robot_cpp
|
|
robot_nav_2d_utils
|
|
)
|
|
|
|
# --- Include directories cho target ---
|
|
target_include_directories(dock_planner
|
|
PUBLIC
|
|
${Boost_INCLUDE_DIRS} # Boost headers
|
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> # Khi build từ source
|
|
$<INSTALL_INTERFACE:include/${PROJECT_NAME}> # Khi install
|
|
)
|
|
|
|
# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
|
|
install(TARGETS dock_planner
|
|
EXPORT dock_planner-targets
|
|
ARCHIVE DESTINATION lib # Thư viện tĩnh .a
|
|
LIBRARY DESTINATION lib # Thư viện động .so
|
|
RUNTIME DESTINATION bin # File thực thi (nếu có)
|
|
INCLUDES DESTINATION include # Cài đặt include
|
|
)
|
|
|
|
# --- Xuất export set costmap_2dTargets thành file CMake module ---
|
|
# --- Tạo file lib/cmake/dock_planner/costmap_2dTargets.cmake ---
|
|
# --- File này chứa cấu hình giúp project khác có thể dùng ---
|
|
# --- Find_package(dock_planner REQUIRED) ---
|
|
# --- Target_link_libraries(my_app PRIVATE dock_planner::dock_planner) ---
|
|
install(EXPORT dock_planner-targets
|
|
FILE dock_planner-targets.cmake
|
|
NAMESPACE dock_planner::
|
|
DESTINATION lib/cmake/dock_planner
|
|
)
|
|
|
|
# --- Cài đặt headers ---
|
|
install(DIRECTORY include/${PROJECT_NAME}/
|
|
DESTINATION include/${PROJECT_NAME}
|
|
)
|