91 lines
3.0 KiB
CMake
91 lines
3.0 KiB
CMake
# --- CMake version và project name ---
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cmake_minimum_required(VERSION 3.10)
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project(dock_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 "${CMAKE_BINARY_DIR}/dock_planner")
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set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/dock_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(${EIGEN3_DEFINITIONS})
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# --- Core library: dock_planner ---
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# Tạo thư viện chính
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add_library(dock_planner
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src/dock_planner.cpp
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src/dock_calc.cpp
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src/utils/curve_common.cpp
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src/utils/pose.cpp
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src/utils/line_common.cpp
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)
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# --- Link các thư viện phụ thuộc ---
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target_link_libraries(dock_planner
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${Boost_LIBRARIES} # Boost
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robot_visualization_msgs
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robot_nav_msgs
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tf3
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robot_tf3_geometry_msgs
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robot_time
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data_convert
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robot_costmap_2d
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nav_core
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robot_cpp
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robot_nav_2d_utils
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)
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# --- Include directories cho target ---
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target_include_directories(dock_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/${PROJECT_NAME}> # Khi install
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)
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# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
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install(TARGETS dock_planner
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EXPORT dock_planner-targets
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ARCHIVE DESTINATION lib # Thư viện tĩnh .a
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LIBRARY DESTINATION lib # Thư viện động .so
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RUNTIME DESTINATION bin # File thực thi (nếu có)
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INCLUDES DESTINATION include # Cài đặt include
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)
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# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
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# --- Tạo file lib/cmake/dock_planner/robot_costmap_2dTargets.cmake ---
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# --- File này chứa cấu hình giúp project khác có thể dùng ---
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# --- Find_package(dock_planner REQUIRED) ---
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# --- Target_link_libraries(my_app PRIVATE dock_planner::dock_planner) ---
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install(EXPORT dock_planner-targets
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FILE dock_planner-targets.cmake
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NAMESPACE dock_planner::
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DESTINATION lib/cmake/dock_planner
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)
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# --- Cài đặt headers ---
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION include/${PROJECT_NAME}
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)
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