105 lines
2.6 KiB
CMake
105 lines
2.6 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(laser_geometry)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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endif()
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(eigen3_cmake_module REQUIRED)
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find_package(Eigen3 REQUIRED)
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ament_python_install_package(laser_geometry PACKAGE_DIR src/laser_geometry)
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add_library(laser_geometry SHARED src/laser_geometry.cpp)
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target_include_directories(laser_geometry
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
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${Eigen3_INCLUDE_DIRS}
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)
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target_link_libraries(laser_geometry PUBLIC
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${sensor_msgs_TARGETS}
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tf2::tf2
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)
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if(TARGET Eigen3::Eigen)
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target_link_libraries(laser_geometry PUBLIC Eigen3::Eigen)
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else()
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target_include_directories(laser_geometry PUBLIC ${Eigen3_INCLUDE_DIRS})
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endif()
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target_link_libraries(laser_geometry PRIVATE
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rclcpp::rclcpp
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)
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(laser_geometry PRIVATE "LASER_GEOMETRY_BUILDING_LIBRARY")
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# Export old-style CMake variables
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ament_export_include_directories("include/${PROJECT_NAME}")
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ament_export_libraries(laser_geometry)
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# Export modern CMake targets
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ament_export_targets(laser_geometry)
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ament_export_dependencies(
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Eigen3
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sensor_msgs
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tf2
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)
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install(
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TARGETS laser_geometry
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EXPORT laser_geometry
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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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INCLUDES DESTINATION include
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)
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install(
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DIRECTORY include/
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DESTINATION include/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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find_package(ament_cmake_gtest REQUIRED)
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ament_add_gtest(projection_test
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test/projection_test.cpp
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TIMEOUT 240)
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if(TARGET projection_test)
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target_link_libraries(projection_test laser_geometry rclcpp::rclcpp)
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endif()
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# Python test
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# Provides PYTHON_EXECUTABLE_DEBUG
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find_package(python_cmake_module REQUIRED)
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find_package(PythonExtra REQUIRED)
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set(_PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}")
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if(WIN32 AND CMAKE_BUILD_TYPE STREQUAL "Debug")
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set(PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE_DEBUG}")
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endif()
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find_package(ament_cmake_pytest REQUIRED)
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ament_add_pytest_test(projection test/projection_test.py
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TIMEOUT 120
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PYTHON_EXECUTABLE "${PYTHON_EXECUTABLE}"
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)
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set(PYTHON_EXECUTABLE "${_PYTHON_EXECUTABLE}")
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endif()
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ament_package()
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