154 lines
4.5 KiB
CMake
154 lines
4.5 KiB
CMake
cmake_minimum_required(VERSION 3.0.2)
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project(map_server)
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find_package(catkin REQUIRED
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COMPONENTS
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roscpp
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nav_msgs
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tf2
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)
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find_package(Bullet REQUIRED)
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find_package(SDL REQUIRED)
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find_package(SDL_image REQUIRED)
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find_package(Boost REQUIRED COMPONENTS filesystem)
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find_package(PkgConfig REQUIRED)
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pkg_check_modules(YAMLCPP yaml-cpp QUIET)
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if(NOT YAMLCPP_FOUND)
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find_package(yaml-cpp 0.6 REQUIRED)
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set(YAMLCPP_INCLUDE_DIRS ${YAML_CPP_INCLUDE_DIR})
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set(YAMLCPP_LIBRARIES ${YAML_CPP_LIBRARIES})
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add_definitions(-DHAVE_YAMLCPP_GT_0_5_0)
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else()
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if(YAMLCPP_VERSION VERSION_GREATER "0.5.0")
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add_definitions(-DHAVE_YAMLCPP_GT_0_5_0)
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endif()
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link_directories(${YAMLCPP_LIBRARY_DIRS})
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endif()
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES map_server_lib map_server_image_loader map_generator_lib
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CATKIN_DEPENDS roscpp nav_msgs tf2
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)
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include_directories(
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include
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${BULLET_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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${SDL_INCLUDE_DIR}
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${SDL_IMAGE_INCLUDE_DIRS}
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${YAMLCPP_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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)
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add_library(map_server_image_loader
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src/image_loader.cpp
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src/image_16bit_loader.cpp
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src/image_32bit_loader.cpp
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)
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add_dependencies(map_server_image_loader ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(map_server_image_loader
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${BULLET_LIBRARIES}
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${catkin_LIBRARIES}
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${SDL_LIBRARY}
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${SDL_IMAGE_LIBRARIES}
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${YAMLCPP_LIBRARIES}
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)
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add_library(map_server_lib src/map_server.cpp)
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add_dependencies(map_server_lib map_server_image_loader ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(map_server_lib
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map_server_image_loader
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${BULLET_LIBRARIES}
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${catkin_LIBRARIES}
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${SDL_LIBRARY}
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${SDL_IMAGE_LIBRARIES}
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${YAMLCPP_LIBRARIES}
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)
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add_library (map_generator_lib src/map_generator.cpp)
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add_dependencies(map_generator_lib ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(map_generator_lib
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${BULLET_LIBRARIES}
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${catkin_LIBRARIES}
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${SDL_LIBRARY}
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${SDL_IMAGE_LIBRARIES}
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${YAMLCPP_LIBRARIES}
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)
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add_executable(map_server src/main.cpp)
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add_dependencies(map_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(map_server
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map_server_lib
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${YAMLCPP_LIBRARIES}
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${catkin_LIBRARIES}
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)
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add_executable(map_server-map_saver src/map_saver.cpp)
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add_dependencies(map_server-map_saver map_generator_lib ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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set_target_properties(map_server-map_saver PROPERTIES OUTPUT_NAME map_saver)
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target_link_libraries(map_server-map_saver
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map_generator_lib
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${catkin_LIBRARIES}
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)
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# copy test data to same place as tests are run
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function(copy_test_data)
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cmake_parse_arguments(PROJECT "" "" "FILES" ${ARGN})
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foreach(datafile ${PROJECT_FILES})
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file(COPY ${datafile} DESTINATION ${PROJECT_BINARY_DIR}/test)
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endforeach()
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endfunction()
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## Tests
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if(CATKIN_ENABLE_TESTING)
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copy_test_data( FILES
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test/testmap.bmp
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test/testmap.png
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test/spectrum.png )
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catkin_add_gtest(${PROJECT_NAME}_utest test/utest.cpp test/test_constants.cpp)
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target_link_libraries(${PROJECT_NAME}_utest
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map_server_lib
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${SDL_LIBRARY}
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${SDL_IMAGE_LIBRARIES}
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)
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find_package(roslib REQUIRED)
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include_directories(${roslib_INCLUDE_DIRS})
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add_executable(rtest test/rtest.cpp test/test_constants.cpp)
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add_dependencies(rtest ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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add_dependencies(tests rtest)
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target_link_libraries( rtest
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${GTEST_LIBRARIES}
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${catkin_LIBRARIES}
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${roslib_LIBRARIES}
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)
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# This has to be done after we've already built targets, or catkin variables get borked
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find_package(rostest REQUIRED)
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add_rostest(test/rtest.xml)
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endif()
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## Install executables and/or libraries
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install(TARGETS map_server-map_saver map_server
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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install(TARGETS map_server_image_loader map_server_lib map_generator_lib
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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 ${CATKIN_GLOBAL_BIN_DESTINATION})
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## Install project namespaced headers
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install(DIRECTORY include/${PROJECT_NAME}/
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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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## Install excutable python script
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install(
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PROGRAMS
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scripts/crop_map
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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