bfe1c494fd
* Fix building on running on Windows Debug. In particular, we need to set the python executable properly when running on Windows Debug. While we are in here, we also fix up some dependencies in the package.xml and CMakeLists.txt. We also have to remove WERROR ON, due to some Python warnings that are outside of our control. Finally, we heavily reduce the number of tests being run here so that the tests complete in a reasonable amount of time, even on (slow) Windows debug. Signed-off-by: Chris Lalancette <clalancette@openrobotics.org>
102 lines
2.5 KiB
CMake
102 lines
2.5 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 14)
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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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$<INSTALL_INTERFACE:include>
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${Eigen3_INCLUDE_DIRS}
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)
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ament_target_dependencies(laser_geometry
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"rclcpp"
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"sensor_msgs"
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"tf2"
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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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ament_export_include_directories(include)
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ament_export_libraries(laser_geometry)
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ament_export_targets(laser_geometry)
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ament_export_dependencies(
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eigen3_cmake_module
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Eigen3
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rclcpp
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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
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)
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if(BUILD_TESTING)
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# TODO(Martin-Idel-SI): replace this with ament_lint_auto() and/or add the copyright linter back
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find_package(ament_cmake_cppcheck REQUIRED)
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find_package(ament_cmake_cpplint REQUIRED)
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find_package(ament_cmake_lint_cmake REQUIRED)
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find_package(ament_cmake_uncrustify REQUIRED)
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ament_cppcheck()
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ament_cpplint()
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ament_lint_cmake()
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ament_uncrustify()
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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)
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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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