update for ROS
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CMakeLists.txt
168
CMakeLists.txt
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@ -1,114 +1,150 @@
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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_voxel_grid 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_voxel_grid with Catkin")
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message(STATUS "Building robot_voxel_grid 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_voxel_grid with Standalone CMake")
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message(STATUS "Building robot_voxel_grid with Standalone CMake")
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endif()
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endif()
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project(robot_voxel_grid)
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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_package(GTest QUIET)
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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)
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endif()
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# # Check for sys/time.h
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# Enable Position Independent Code
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# check_include_file(sys/time.h HAVE_SYS_TIME_H)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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# if (HAVE_SYS_TIME_H)
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# add_definitions(-DHAVE_SYS_TIME_H)
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# Cấu hình RPATH để tránh cycle trong runtime search path
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# endif (HAVE_SYS_TIME_H)
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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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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)
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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_voxel_grid
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LIBRARIES ${PROJECT_NAME}
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)
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)
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endif()
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# Include directories
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include_directories(
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include_directories(
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include
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include
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${GTEST_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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)
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)
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if(BUILDING_WITH_CATKIN)
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include_directories(${catkin_INCLUDE_DIRS})
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endif()
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endif()
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# Library
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# Libraries
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add_library(robot_voxel_grid SHARED src/voxel_grid.cpp)
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add_library(${PROJECT_NAME} SHARED
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src/voxel_grid.cpp
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target_include_directories(robot_voxel_grid
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
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)
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)
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if(BUILDING_WITH_CATKIN)
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if(BUILDING_WITH_CATKIN)
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add_dependencies(robot_voxel_grid ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_include_directories(${PROJECT_NAME}
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(${PROJECT_NAME}
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PUBLIC ${catkin_LIBRARIES}
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)
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else()
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target_include_directories(${PROJECT_NAME}
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PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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set_target_properties(${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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# ========================================================
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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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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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# Install targets
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## Mark cpp header files for installation
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install(TARGETS robot_voxel_grid
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install(DIRECTORY include/${PROJECT_NAME}/
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EXPORT robot_voxel_gridTargets
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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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 ${PROJECT_NAME}-targets
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ARCHIVE DESTINATION lib
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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RUNTIME DESTINATION bin
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INCLUDES DESTINATION include
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)
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if(NOT BUILDING_WITH_CATKIN)
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# Install headers (standalone)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION include/${PROJECT_NAME}
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)
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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"
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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: ${CMAKE_CXX_STANDARD}")
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message(STATUS "Dependencies: GTest (optional)")
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message(STATUS "=================================")
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endif()
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endif()
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install(EXPORT robot_voxel_gridTargets
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# ========================================================
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DESTINATION lib/cmake/robot_voxel_grid)
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# Test executables
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# ========================================================
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# Testing
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enable_testing()
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# Find Google Test
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find_package(GTest QUIET)
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if(GTest_FOUND OR GTEST_FOUND)
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if(GTest_FOUND OR GTEST_FOUND)
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# Find pthread (required for GTest)
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enable_testing()
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find_package(Threads REQUIRED)
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find_package(Threads REQUIRED)
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include_directories(${GTEST_INCLUDE_DIRS})
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if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/voxel_grid_tests.cpp)
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add_executable(robot_voxel_grid_tests test/voxel_grid_tests.cpp)
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add_executable(${PROJECT_NAME}_test test/voxel_grid_tests.cpp)
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target_link_libraries(robot_voxel_grid_tests
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target_link_libraries(${PROJECT_NAME}_test PRIVATE
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robot_voxel_grid
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${PROJECT_NAME}
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${GTEST_LIBRARIES}
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GTest::GTest
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GTest::Main
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Threads::Threads
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Threads::Threads
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)
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)
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add_test(NAME robot_voxel_grid_tests COMMAND robot_voxel_grid_tests)
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add_test(NAME ${PROJECT_NAME}_test COMMAND ${PROJECT_NAME}_test)
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endif()
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else()
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else()
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message(STATUS "Google Test not found. Tests will not be built.")
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message(STATUS "Google Test not found. Tests will not be built.")
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endif()
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endif()
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