3d913f6483
This allows us to hide more of the libraries from downstream consumers. While we are in here, do slight cleanups so it is more clear which libraries are depended on. Signed-off-by: Chris Lalancette <clalancette@gmail.com>
113 lines
2.8 KiB
CMake
113 lines
2.8 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/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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# TODO(Martin-Idel-SI): replace this with ament_lint_auto() and/or add the copyright linter back
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find_package(ament_cmake_cppcheck REQUIRED)
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find_package(ament_cmake_cpplint REQUIRED)
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find_package(ament_cmake_lint_cmake REQUIRED)
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find_package(ament_cmake_uncrustify REQUIRED)
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ament_cppcheck()
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ament_cpplint()
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ament_lint_cmake()
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ament_uncrustify()
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find_package(ament_cmake_gtest REQUIRED)
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ament_add_gtest(projection_test
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test/projection_test.cpp
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TIMEOUT 240)
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if(TARGET projection_test)
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target_link_libraries(projection_test laser_geometry rclcpp::rclcpp)
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endif()
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# Python test
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# Provides PYTHON_EXECUTABLE_DEBUG
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find_package(python_cmake_module REQUIRED)
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find_package(PythonExtra REQUIRED)
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set(_PYTHON_EXECUTABLE "${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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