update for ROS
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7cb758a986
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213
CMakeLists.txt
213
CMakeLists.txt
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@ -1,148 +1,181 @@
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cmake_minimum_required(VERSION 3.10)
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cmake_minimum_required(VERSION 3.0.2)
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project(robot_laser_geometry VERSION 1.0.0 LANGUAGES CXX)
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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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if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
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set(BUILDING_WITH_CATKIN TRUE)
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set(BUILDING_WITH_CATKIN TRUE)
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message(STATUS "Building robot_laser_geometry with Catkin")
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message(STATUS "Building robot_laser_geometry with Catkin")
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else()
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else()
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set(BUILDING_WITH_CATKIN FALSE)
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set(BUILDING_WITH_CATKIN FALSE)
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message(STATUS "Building robot_laser_geometry with Standalone CMake")
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message(STATUS "Building robot_laser_geometry with Standalone CMake")
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endif()
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endif()
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project(robot_laser_geometry)
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# C++ Standard - must be set before find_package
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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include(CTest)
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# ========================================================
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# Find dependencies
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# Find dependencies
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# ========================================================
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# Find system dependencies
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find_package(Eigen3 REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(GTest REQUIRED)
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find_package(GTest REQUIRED)
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if(BUILDING_WITH_CATKIN)
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if (NOT BUILDING_WITH_CATKIN)
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find_package(catkin REQUIRED COMPONENTS
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# Enable Position Independent Code
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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# Cấu hình RPATH để tránh cycle trong runtime search path
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set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
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set(PACKAGES_DIR
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robot_sensor_msgs
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robot_sensor_msgs
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geometry_msgs
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geometry_msgs
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robot_time
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robot_time
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tf3
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tf3
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data_convert
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data_convert
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)
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)
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endif()
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else()
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# ========================================================
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# ========================================================
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# Catkin specific configuration
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# Catkin specific configuration
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# ========================================================
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# ========================================================
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find_package(catkin REQUIRED COMPONENTS
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robot_sensor_msgs
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geometry_msgs
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robot_time
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tf3
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data_convert
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)
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if(BUILDING_WITH_CATKIN)
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catkin_package(
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catkin_package(
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INCLUDE_DIRS include
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INCLUDE_DIRS include
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LIBRARIES robot_laser_geometry
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LIBRARIES ${PROJECT_NAME}
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CATKIN_DEPENDS robot_sensor_msgs geometry_msgs robot_time tf3 data_convert
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CATKIN_DEPENDS robot_sensor_msgs geometry_msgs robot_time tf3 data_convert
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DEPENDS Eigen3
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DEPENDS Eigen3
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)
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)
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endif()
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# Include directories
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include_directories(
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include_directories(
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include
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include
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${catkin_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIRS}
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${GTEST_INCLUDE_DIRS}
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)
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endif()
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# Libraries
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add_library(${PROJECT_NAME} SHARED
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src/laser_geometry.cpp
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)
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)
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if(BUILDING_WITH_CATKIN)
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if(BUILDING_WITH_CATKIN)
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include_directories(${catkin_INCLUDE_DIRS})
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add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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endif()
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# Create library
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target_include_directories(${PROJECT_NAME}
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add_library(robot_laser_geometry SHARED src/laser_geometry.cpp)
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target_include_directories(robot_laser_geometry
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PUBLIC
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
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$<INSTALL_INTERFACE:include>
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)
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# Link libraries
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if(BUILDING_WITH_CATKIN)
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target_link_libraries(robot_laser_geometry PUBLIC
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${catkin_LIBRARIES}
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)
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)
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target_link_libraries(${PROJECT_NAME}
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PUBLIC ${catkin_LIBRARIES}
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)
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else()
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else()
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target_link_libraries(robot_laser_geometry PUBLIC
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robot_sensor_msgs
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target_include_directories(${PROJECT_NAME}
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geometry_msgs
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PUBLIC
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robot_time
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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tf3
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$<INSTALL_INTERFACE:include>
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data_convert
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)
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)
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target_link_libraries(${PROJECT_NAME}
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PUBLIC
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${PACKAGES_DIR}
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)
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set_target_properties(${PROJECT_NAME} PROPERTIES
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LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
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BUILD_RPATH "${CMAKE_BINARY_DIR}"
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INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
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)
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endif()
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endif()
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if(BUILDING_WITH_CATKIN)
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# Link Eigen3
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add_dependencies(robot_laser_geometry ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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endif()
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if(TARGET Eigen3::Eigen)
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if(TARGET Eigen3::Eigen)
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target_link_libraries(robot_laser_geometry PUBLIC Eigen3::Eigen)
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target_link_libraries(${PROJECT_NAME} PUBLIC Eigen3::Eigen)
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else()
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else()
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target_include_directories(robot_laser_geometry PUBLIC ${EIGEN3_INCLUDE_DIRS})
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target_include_directories(${PROJECT_NAME} PUBLIC ${EIGEN3_INCLUDE_DIRS})
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endif()
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endif()
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# Causes the visibility macros to use dllexport rather than dllimport,
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(robot_laser_geometry PRIVATE "ROBOT_LASER_GEOMETRY_BUILDING_LIBRARY")
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target_compile_definitions(${PROJECT_NAME} PRIVATE "ROBOT_LASER_GEOMETRY_BUILDING_LIBRARY")
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# ========================================================
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if(BUILDING_WITH_CATKIN)
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# Installation
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## Mark libraries for installation
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# ========================================================
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
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install(TARGETS ${PROJECT_NAME}
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# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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install(TARGETS robot_laser_geometry
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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EXPORT robot_laser_geometry-targets
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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ARCHIVE DESTINATION lib # Thư viện tĩnh .a
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LIBRARY DESTINATION lib # Thư viện động .so
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RUNTIME DESTINATION bin # File thực thi (nếu có)
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INCLUDES DESTINATION include # Cài đặt include
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)
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if(NOT BUILDING_WITH_CATKIN)
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# Cài đặt headers (standalone)
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install(
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DIRECTORY include/
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DESTINATION include/${PROJECT_NAME}
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)
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)
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
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PATTERN ".svn" EXCLUDE
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)
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else()
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install(TARGETS ${PROJECT_NAME}
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EXPORT ${PROJECT_NAME}-targets
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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# Export targets
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install(EXPORT ${PROJECT_NAME}-targets
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FILE ${PROJECT_NAME}-targets.cmake
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NAMESPACE ${PROJECT_NAME}::
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DESTINATION lib/cmake/${PROJECT_NAME}
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)
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION include
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FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
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PATTERN ".svn" EXCLUDE
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)
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# Print configuration info
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message(STATUS "=================================")
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message(STATUS "Project: ${PROJECT_NAME}")
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message(STATUS "Version: ${PROJECT_VERSION}")
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message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
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message(STATUS "Dependencies: robot_sensor_msgs, geometry_msgs, robot_time, tf3, data_convert, Eigen3")
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message(STATUS "=================================")
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endif()
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endif()
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# --- Xuất export set robot_laser_geometry-targets thành file CMake module ---
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# ========================================================
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# --- Tạo file lib/cmake/robot_laser_geometry/laser_geometry-targets.cmake ---
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# Test executables
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# --- File này chứa cấu hình giúp project khác có thể dùng ---
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# ========================================================
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# --- Find_package(robot_laser_geometry REQUIRED) ---
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# --- Target_link_libraries(my_app PRIVATE robot_laser_geometry::robot_laser_geometry) ---
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install(EXPORT robot_laser_geometry-targets
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FILE robot_laser_geometry-targets.cmake
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NAMESPACE robot_laser_geometry::
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DESTINATION lib/cmake/robot_laser_geometry
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)
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# Tests
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if(BUILD_TESTING)
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if(BUILD_TESTING)
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enable_testing()
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enable_testing()
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add_executable(projection_test test/projection_test.cpp)
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if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/projection_test.cpp)
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target_link_libraries(projection_test
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add_executable(${PROJECT_NAME}_test test/projection_test.cpp)
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robot_laser_geometry
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target_link_libraries(${PROJECT_NAME}_test PRIVATE
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GTest::GTest
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${PROJECT_NAME}
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GTest::Main
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GTest::GTest
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pthread
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GTest::Main
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pthread
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)
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)
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add_test(NAME projection_test COMMAND projection_test)
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add_test(NAME ${PROJECT_NAME}_test COMMAND ${PROJECT_NAME}_test)
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endif()
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endif()
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endif()
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