update for ROS
This commit is contained in:
parent
4303737ff9
commit
3daeae6147
158
CMakeLists.txt
158
CMakeLists.txt
|
|
@ -1,114 +1,150 @@
|
|||
cmake_minimum_required(VERSION 3.10)
|
||||
cmake_minimum_required(VERSION 3.0.2)
|
||||
project(robot_voxel_grid VERSION 1.0.0 LANGUAGES CXX)
|
||||
|
||||
# ========================================================
|
||||
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
|
||||
# ========================================================
|
||||
|
||||
# Detect if building with Catkin
|
||||
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
|
||||
set(BUILDING_WITH_CATKIN TRUE)
|
||||
message(STATUS "Building robot_voxel_grid with Catkin")
|
||||
|
||||
else()
|
||||
set(BUILDING_WITH_CATKIN FALSE)
|
||||
message(STATUS "Building robot_voxel_grid with Standalone CMake")
|
||||
endif()
|
||||
|
||||
project(robot_voxel_grid)
|
||||
|
||||
# C++ Standard - must be set before find_package
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
|
||||
include(CTest)
|
||||
set(CMAKE_CXX_EXTENSIONS OFF)
|
||||
|
||||
# ========================================================
|
||||
# Find dependencies
|
||||
# ========================================================
|
||||
find_package(GTest QUIET)
|
||||
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
find_package(catkin REQUIRED)
|
||||
endif()
|
||||
if (NOT BUILDING_WITH_CATKIN)
|
||||
|
||||
# # Check for sys/time.h
|
||||
# check_include_file(sys/time.h HAVE_SYS_TIME_H)
|
||||
# if (HAVE_SYS_TIME_H)
|
||||
# add_definitions(-DHAVE_SYS_TIME_H)
|
||||
# endif (HAVE_SYS_TIME_H)
|
||||
# Enable Position Independent Code
|
||||
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
|
||||
|
||||
# Cấu hình RPATH để tránh cycle trong runtime search path
|
||||
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
|
||||
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
|
||||
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
|
||||
|
||||
else()
|
||||
|
||||
# ========================================================
|
||||
# Catkin specific configuration
|
||||
# ========================================================
|
||||
find_package(catkin REQUIRED)
|
||||
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
catkin_package(
|
||||
INCLUDE_DIRS include
|
||||
LIBRARIES robot_voxel_grid
|
||||
LIBRARIES ${PROJECT_NAME}
|
||||
)
|
||||
endif()
|
||||
|
||||
# Include directories
|
||||
include_directories(
|
||||
include
|
||||
${GTEST_INCLUDE_DIRS}
|
||||
${catkin_INCLUDE_DIRS}
|
||||
)
|
||||
endif()
|
||||
|
||||
# Libraries
|
||||
add_library(${PROJECT_NAME} SHARED
|
||||
src/voxel_grid.cpp
|
||||
)
|
||||
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
include_directories(${catkin_INCLUDE_DIRS})
|
||||
endif()
|
||||
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
# Library
|
||||
add_library(robot_voxel_grid SHARED src/voxel_grid.cpp)
|
||||
|
||||
target_include_directories(robot_voxel_grid
|
||||
target_include_directories(${PROJECT_NAME}
|
||||
PUBLIC
|
||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
|
||||
$<INSTALL_INTERFACE:include>
|
||||
)
|
||||
|
||||
target_link_libraries(${PROJECT_NAME}
|
||||
PUBLIC ${catkin_LIBRARIES}
|
||||
)
|
||||
|
||||
else()
|
||||
|
||||
target_include_directories(${PROJECT_NAME}
|
||||
PUBLIC
|
||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||
$<INSTALL_INTERFACE:include>
|
||||
)
|
||||
|
||||
set_target_properties(${PROJECT_NAME} PROPERTIES
|
||||
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
|
||||
BUILD_RPATH "${CMAKE_BINARY_DIR}"
|
||||
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
|
||||
)
|
||||
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
add_dependencies(robot_voxel_grid ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
endif()
|
||||
|
||||
# ========================================================
|
||||
# Installation
|
||||
# ========================================================
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
## Mark libraries for installation
|
||||
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
||||
install(TARGETS ${PROJECT_NAME}
|
||||
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||
)
|
||||
|
||||
# Install targets
|
||||
install(TARGETS robot_voxel_grid
|
||||
EXPORT robot_voxel_gridTargets
|
||||
## Mark cpp header files for installation
|
||||
install(DIRECTORY include/${PROJECT_NAME}/
|
||||
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||
FILES_MATCHING PATTERN "*.h"
|
||||
PATTERN ".svn" EXCLUDE
|
||||
)
|
||||
|
||||
else()
|
||||
|
||||
install(TARGETS ${PROJECT_NAME}
|
||||
EXPORT ${PROJECT_NAME}-targets
|
||||
ARCHIVE DESTINATION lib
|
||||
LIBRARY DESTINATION lib
|
||||
RUNTIME DESTINATION bin
|
||||
INCLUDES DESTINATION include
|
||||
)
|
||||
|
||||
if(NOT BUILDING_WITH_CATKIN)
|
||||
# Install headers (standalone)
|
||||
install(DIRECTORY include/${PROJECT_NAME}/
|
||||
DESTINATION include/${PROJECT_NAME}
|
||||
# Export targets
|
||||
install(EXPORT ${PROJECT_NAME}-targets
|
||||
FILE ${PROJECT_NAME}-targets.cmake
|
||||
NAMESPACE ${PROJECT_NAME}::
|
||||
DESTINATION lib/cmake/${PROJECT_NAME}
|
||||
)
|
||||
|
||||
## Mark cpp header files for installation
|
||||
install(DIRECTORY include/${PROJECT_NAME}/
|
||||
DESTINATION include
|
||||
FILES_MATCHING PATTERN "*.h"
|
||||
PATTERN ".svn" EXCLUDE
|
||||
)
|
||||
|
||||
# Print configuration info
|
||||
message(STATUS "=================================")
|
||||
message(STATUS "Project: ${PROJECT_NAME}")
|
||||
message(STATUS "Version: ${PROJECT_VERSION}")
|
||||
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
|
||||
message(STATUS "Dependencies: GTest (optional)")
|
||||
message(STATUS "=================================")
|
||||
endif()
|
||||
|
||||
install(EXPORT robot_voxel_gridTargets
|
||||
DESTINATION lib/cmake/robot_voxel_grid)
|
||||
|
||||
|
||||
# Testing
|
||||
enable_testing()
|
||||
|
||||
# Find Google Test
|
||||
find_package(GTest QUIET)
|
||||
# ========================================================
|
||||
# Test executables
|
||||
# ========================================================
|
||||
if(GTest_FOUND OR GTEST_FOUND)
|
||||
# Find pthread (required for GTest)
|
||||
enable_testing()
|
||||
find_package(Threads REQUIRED)
|
||||
|
||||
include_directories(${GTEST_INCLUDE_DIRS})
|
||||
add_executable(robot_voxel_grid_tests test/voxel_grid_tests.cpp)
|
||||
target_link_libraries(robot_voxel_grid_tests
|
||||
robot_voxel_grid
|
||||
${GTEST_LIBRARIES}
|
||||
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/voxel_grid_tests.cpp)
|
||||
add_executable(${PROJECT_NAME}_test test/voxel_grid_tests.cpp)
|
||||
target_link_libraries(${PROJECT_NAME}_test PRIVATE
|
||||
${PROJECT_NAME}
|
||||
GTest::GTest
|
||||
GTest::Main
|
||||
Threads::Threads
|
||||
)
|
||||
add_test(NAME robot_voxel_grid_tests COMMAND robot_voxel_grid_tests)
|
||||
add_test(NAME ${PROJECT_NAME}_test COMMAND ${PROJECT_NAME}_test)
|
||||
endif()
|
||||
else()
|
||||
message(STATUS "Google Test not found. Tests will not be built.")
|
||||
endif()
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user