update for ROS
This commit is contained in:
parent
7cb758a986
commit
4fb3fdc28c
197
CMakeLists.txt
197
CMakeLists.txt
|
|
@ -1,34 +1,47 @@
|
||||||
cmake_minimum_required(VERSION 3.10)
|
cmake_minimum_required(VERSION 3.0.2)
|
||||||
|
project(robot_laser_geometry VERSION 1.0.0 LANGUAGES CXX)
|
||||||
|
|
||||||
# ========================================================
|
|
||||||
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
|
|
||||||
# ========================================================
|
|
||||||
|
|
||||||
# Detect if building with Catkin
|
|
||||||
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
|
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
|
||||||
set(BUILDING_WITH_CATKIN TRUE)
|
set(BUILDING_WITH_CATKIN TRUE)
|
||||||
message(STATUS "Building robot_laser_geometry with Catkin")
|
message(STATUS "Building robot_laser_geometry with Catkin")
|
||||||
|
|
||||||
else()
|
else()
|
||||||
set(BUILDING_WITH_CATKIN FALSE)
|
set(BUILDING_WITH_CATKIN FALSE)
|
||||||
message(STATUS "Building robot_laser_geometry with Standalone CMake")
|
message(STATUS "Building robot_laser_geometry with Standalone CMake")
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
project(robot_laser_geometry)
|
# C++ Standard - must be set before find_package
|
||||||
|
|
||||||
set(CMAKE_CXX_STANDARD 17)
|
set(CMAKE_CXX_STANDARD 17)
|
||||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||||
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
|
set(CMAKE_CXX_EXTENSIONS OFF)
|
||||||
include(CTest)
|
|
||||||
|
|
||||||
# ========================================================
|
|
||||||
# Find dependencies
|
# Find dependencies
|
||||||
# ========================================================
|
|
||||||
|
|
||||||
# Find system dependencies
|
|
||||||
find_package(Eigen3 REQUIRED)
|
find_package(Eigen3 REQUIRED)
|
||||||
find_package(GTest REQUIRED)
|
find_package(GTest REQUIRED)
|
||||||
|
|
||||||
if(BUILDING_WITH_CATKIN)
|
if (NOT BUILDING_WITH_CATKIN)
|
||||||
|
|
||||||
|
# Enable Position Independent Code
|
||||||
|
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
|
||||||
|
|
||||||
|
# Cấu hình RPATH để tránh cycle trong runtime search path
|
||||||
|
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
|
||||||
|
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
|
||||||
|
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
|
||||||
|
|
||||||
|
set(PACKAGES_DIR
|
||||||
|
robot_sensor_msgs
|
||||||
|
geometry_msgs
|
||||||
|
robot_time
|
||||||
|
tf3
|
||||||
|
data_convert
|
||||||
|
)
|
||||||
|
|
||||||
|
else()
|
||||||
|
|
||||||
|
# ========================================================
|
||||||
|
# Catkin specific configuration
|
||||||
|
# ========================================================
|
||||||
find_package(catkin REQUIRED COMPONENTS
|
find_package(catkin REQUIRED COMPONENTS
|
||||||
robot_sensor_msgs
|
robot_sensor_msgs
|
||||||
geometry_msgs
|
geometry_msgs
|
||||||
|
|
@ -36,113 +49,133 @@ if(BUILDING_WITH_CATKIN)
|
||||||
tf3
|
tf3
|
||||||
data_convert
|
data_convert
|
||||||
)
|
)
|
||||||
endif()
|
|
||||||
|
|
||||||
# ========================================================
|
|
||||||
# Catkin specific configuration
|
|
||||||
# ========================================================
|
|
||||||
|
|
||||||
if(BUILDING_WITH_CATKIN)
|
|
||||||
catkin_package(
|
catkin_package(
|
||||||
INCLUDE_DIRS include
|
INCLUDE_DIRS include
|
||||||
LIBRARIES robot_laser_geometry
|
LIBRARIES ${PROJECT_NAME}
|
||||||
CATKIN_DEPENDS robot_sensor_msgs geometry_msgs robot_time tf3 data_convert
|
CATKIN_DEPENDS robot_sensor_msgs geometry_msgs robot_time tf3 data_convert
|
||||||
DEPENDS Eigen3
|
DEPENDS Eigen3
|
||||||
)
|
)
|
||||||
endif()
|
|
||||||
|
|
||||||
# Include directories
|
|
||||||
include_directories(
|
include_directories(
|
||||||
include
|
include
|
||||||
|
${catkin_INCLUDE_DIRS}
|
||||||
${EIGEN3_INCLUDE_DIRS}
|
${EIGEN3_INCLUDE_DIRS}
|
||||||
${GTEST_INCLUDE_DIRS}
|
)
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# Libraries
|
||||||
|
add_library(${PROJECT_NAME} SHARED
|
||||||
|
src/laser_geometry.cpp
|
||||||
)
|
)
|
||||||
|
|
||||||
if(BUILDING_WITH_CATKIN)
|
if(BUILDING_WITH_CATKIN)
|
||||||
include_directories(${catkin_INCLUDE_DIRS})
|
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
endif()
|
|
||||||
|
|
||||||
# Create library
|
target_include_directories(${PROJECT_NAME}
|
||||||
add_library(robot_laser_geometry SHARED src/laser_geometry.cpp)
|
|
||||||
|
|
||||||
target_include_directories(robot_laser_geometry
|
|
||||||
PUBLIC
|
PUBLIC
|
||||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||||
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
|
$<INSTALL_INTERFACE:include>
|
||||||
)
|
)
|
||||||
|
|
||||||
# Link libraries
|
target_link_libraries(${PROJECT_NAME}
|
||||||
if(BUILDING_WITH_CATKIN)
|
PUBLIC ${catkin_LIBRARIES}
|
||||||
target_link_libraries(robot_laser_geometry PUBLIC
|
|
||||||
${catkin_LIBRARIES}
|
|
||||||
)
|
)
|
||||||
|
|
||||||
else()
|
else()
|
||||||
target_link_libraries(robot_laser_geometry PUBLIC
|
|
||||||
robot_sensor_msgs
|
target_include_directories(${PROJECT_NAME}
|
||||||
geometry_msgs
|
PUBLIC
|
||||||
robot_time
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||||
tf3
|
$<INSTALL_INTERFACE:include>
|
||||||
data_convert
|
|
||||||
)
|
)
|
||||||
|
|
||||||
|
target_link_libraries(${PROJECT_NAME}
|
||||||
|
PUBLIC
|
||||||
|
${PACKAGES_DIR}
|
||||||
|
)
|
||||||
|
|
||||||
|
set_target_properties(${PROJECT_NAME} PROPERTIES
|
||||||
|
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
|
||||||
|
BUILD_RPATH "${CMAKE_BINARY_DIR}"
|
||||||
|
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
|
||||||
|
)
|
||||||
|
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
if(BUILDING_WITH_CATKIN)
|
# Link Eigen3
|
||||||
add_dependencies(robot_laser_geometry ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
|
||||||
endif()
|
|
||||||
|
|
||||||
if(TARGET Eigen3::Eigen)
|
if(TARGET Eigen3::Eigen)
|
||||||
target_link_libraries(robot_laser_geometry PUBLIC Eigen3::Eigen)
|
target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen)
|
||||||
else()
|
else()
|
||||||
target_include_directories(robot_laser_geometry PUBLIC ${EIGEN3_INCLUDE_DIRS})
|
target_include_directories(${PROJECT_NAME} PUBLIC ${EIGEN3_INCLUDE_DIRS})
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
# Causes the visibility macros to use dllexport rather than dllimport,
|
# Causes the visibility macros to use dllexport rather than dllimport,
|
||||||
# which is appropriate when building the dll but not consuming it.
|
# which is appropriate when building the dll but not consuming it.
|
||||||
target_compile_definitions(robot_laser_geometry PRIVATE "ROBOT_LASER_GEOMETRY_BUILDING_LIBRARY")
|
target_compile_definitions(${PROJECT_NAME} PRIVATE "ROBOT_LASER_GEOMETRY_BUILDING_LIBRARY")
|
||||||
|
|
||||||
# ========================================================
|
if(BUILDING_WITH_CATKIN)
|
||||||
# Installation
|
## Mark libraries for installation
|
||||||
# ========================================================
|
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
||||||
|
install(TARGETS ${PROJECT_NAME}
|
||||||
# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
|
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
install(TARGETS robot_laser_geometry
|
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||||
EXPORT robot_laser_geometry-targets
|
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||||
ARCHIVE DESTINATION lib # Thư viện tĩnh .a
|
|
||||||
LIBRARY DESTINATION lib # Thư viện động .so
|
|
||||||
RUNTIME DESTINATION bin # File thực thi (nếu có)
|
|
||||||
INCLUDES DESTINATION include # Cài đặt include
|
|
||||||
)
|
)
|
||||||
|
|
||||||
if(NOT BUILDING_WITH_CATKIN)
|
## Mark cpp header files for installation
|
||||||
# Cài đặt headers (standalone)
|
install(DIRECTORY include/${PROJECT_NAME}/
|
||||||
install(
|
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||||
DIRECTORY include/
|
FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
|
||||||
DESTINATION include/${PROJECT_NAME}
|
PATTERN ".svn" EXCLUDE
|
||||||
)
|
)
|
||||||
|
|
||||||
|
else()
|
||||||
|
|
||||||
|
install(TARGETS ${PROJECT_NAME}
|
||||||
|
EXPORT ${PROJECT_NAME}-targets
|
||||||
|
ARCHIVE DESTINATION lib
|
||||||
|
LIBRARY DESTINATION lib
|
||||||
|
RUNTIME DESTINATION bin
|
||||||
|
)
|
||||||
|
|
||||||
|
# Export targets
|
||||||
|
install(EXPORT ${PROJECT_NAME}-targets
|
||||||
|
FILE ${PROJECT_NAME}-targets.cmake
|
||||||
|
NAMESPACE ${PROJECT_NAME}::
|
||||||
|
DESTINATION lib/cmake/${PROJECT_NAME}
|
||||||
|
)
|
||||||
|
|
||||||
|
## Mark cpp header files for installation
|
||||||
|
install(DIRECTORY include/${PROJECT_NAME}/
|
||||||
|
DESTINATION include
|
||||||
|
FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
|
||||||
|
PATTERN ".svn" EXCLUDE
|
||||||
|
)
|
||||||
|
|
||||||
|
# Print configuration info
|
||||||
|
message(STATUS "=================================")
|
||||||
|
message(STATUS "Project: ${PROJECT_NAME}")
|
||||||
|
message(STATUS "Version: ${PROJECT_VERSION}")
|
||||||
|
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
|
||||||
|
message(STATUS "Dependencies: robot_sensor_msgs, geometry_msgs, robot_time, tf3, data_convert, Eigen3")
|
||||||
|
message(STATUS "=================================")
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
# --- Xuất export set robot_laser_geometry-targets thành file CMake module ---
|
# ========================================================
|
||||||
# --- Tạo file lib/cmake/robot_laser_geometry/laser_geometry-targets.cmake ---
|
# Test executables
|
||||||
# --- File này chứa cấu hình giúp project khác có thể dùng ---
|
# ========================================================
|
||||||
# --- Find_package(robot_laser_geometry REQUIRED) ---
|
|
||||||
# --- Target_link_libraries(my_app PRIVATE robot_laser_geometry::robot_laser_geometry) ---
|
|
||||||
install(EXPORT robot_laser_geometry-targets
|
|
||||||
FILE robot_laser_geometry-targets.cmake
|
|
||||||
NAMESPACE robot_laser_geometry::
|
|
||||||
DESTINATION lib/cmake/robot_laser_geometry
|
|
||||||
)
|
|
||||||
|
|
||||||
|
|
||||||
# Tests
|
|
||||||
if(BUILD_TESTING)
|
if(BUILD_TESTING)
|
||||||
enable_testing()
|
enable_testing()
|
||||||
|
|
||||||
add_executable(projection_test test/projection_test.cpp)
|
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/projection_test.cpp)
|
||||||
target_link_libraries(projection_test
|
add_executable(${PROJECT_NAME}_test test/projection_test.cpp)
|
||||||
robot_laser_geometry
|
target_link_libraries(${PROJECT_NAME}_test PRIVATE
|
||||||
|
${PROJECT_NAME}
|
||||||
GTest::GTest
|
GTest::GTest
|
||||||
GTest::Main
|
GTest::Main
|
||||||
pthread
|
pthread
|
||||||
)
|
)
|
||||||
add_test(NAME projection_test COMMAND projection_test)
|
add_test(NAME ${PROJECT_NAME}_test COMMAND ${PROJECT_NAME}_test)
|
||||||
|
endif()
|
||||||
endif()
|
endif()
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue
Block a user