197 lines
6.6 KiB
CMake
197 lines
6.6 KiB
CMake
cmake_minimum_required(VERSION 3.0.2)
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project(amr_control)
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## Compile as C++11, supported in ROS Kinetic and newer
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add_compile_options(-std=c++17)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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geometry_msgs
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nav_2d_utils
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roscpp
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std_msgs
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angles
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delta_modbus
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nova5_control
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loc_core
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amr_comunication
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vda5050_msgs
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nav_msgs
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robot_nav_2d_utils
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move_base_core
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robot_cpp
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robot_nav_msgs
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)
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## System dependencies are found with CMake's conventions
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find_package(Boost REQUIRED COMPONENTS system thread)
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find_package(PkgConfig)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES amr_control amr_control_converter amr_control_publisher amr_control_subscriber
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CATKIN_DEPENDS
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geometry_msgs
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loc_core
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nav_2d_utils
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robot_nav_2d_utils
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move_base_core
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robot_cpp
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roscpp
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std_msgs
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DEPENDS Boost
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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)
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## Declare a C++ library
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add_library(${PROJECT_NAME}_converter src/tf_converter.cpp src/sensor_converter.cpp)
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add_dependencies(${PROJECT_NAME}_converter ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(${PROJECT_NAME}_converter ${catkin_LIBRARIES} ${Boost_LIBRARIES})
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add_library(${PROJECT_NAME}_publisher src/amr_publiser.cpp)
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add_dependencies(${PROJECT_NAME}_publisher ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(${PROJECT_NAME}_publisher ${catkin_LIBRARIES} ${Boost_LIBRARIES})
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add_library(${PROJECT_NAME}_subscriber src/amr_subcriber.cpp)
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add_dependencies(${PROJECT_NAME}_subscriber ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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target_link_libraries(${PROJECT_NAME}_subscriber ${catkin_LIBRARIES} ${Boost_LIBRARIES})
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add_library(${PROJECT_NAME}
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src/amr_control.cpp
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src/amr_monitor.cpp
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src/amr_safety.cpp
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src/amr_opc_ua_server_api.cpp
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src/amr_vda_5050_client_api.cpp
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src/amr_make_plan_with_order.cpp
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)
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_converter_EXPORTED_TARGETS} ${${PROJECT_NAME}_publisher_EXPORTED_TARGETS} ${${PROJECT_NAME}_subscriber_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
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# Libraries will be found via LD_LIBRARY_PATH or system paths
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set_target_properties(${PROJECT_NAME} ${PROJECT_NAME}_converter ${PROJECT_NAME}_publisher ${PROJECT_NAME}_subscriber PROPERTIES
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SKIP_BUILD_RPATH TRUE
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BUILD_WITH_INSTALL_RPATH FALSE
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INSTALL_RPATH_USE_LINK_PATH FALSE
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)
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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add_executable(${PROJECT_NAME}_node src/amr_control_node.cpp)
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# add_executable(vda_5050_api_test test/vda_5050_api.cpp)
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## Rename C++ executable without prefix
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## The above recommended prefix causes long target names, the following renames the
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## target back to the shorter version for ease of user use
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## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
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# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME ${PROJECT_NAME})
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## Add cmake target dependencies of the executable
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## same as for the library above
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add_dependencies(${PROJECT_NAME}_node
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${PROJECT_NAME}
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${${PROJECT_NAME}_EXPORTED_TARGETS}
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${catkin_EXPORTED_TARGETS}
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)
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# Configure RPATH to find libraries in devel space
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# Use ORIGIN to find libraries relative to executable location
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set_target_properties(${PROJECT_NAME}_node PROPERTIES
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BUILD_WITH_INSTALL_RPATH FALSE
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INSTALL_RPATH_USE_LINK_PATH TRUE
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BUILD_RPATH "${CATKIN_DEVEL_PREFIX}/lib"
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)
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## Specify libraries to link a library or executable target against
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target_link_libraries(${PROJECT_NAME}
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${PROJECT_NAME}_converter
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${PROJECT_NAME}_publisher
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${PROJECT_NAME}_subscriber
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${FreeOpcUa_LIBRARIES}
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${catkin_LIBRARIES}
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${Boost_LIBRARIES}
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)
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target_link_libraries(${PROJECT_NAME}_node
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${PROJECT_NAME}
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${catkin_LIBRARIES}
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${Boost_LIBRARIES}
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)
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# catkin_install_python(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark executables for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
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install(TARGETS ${PROJECT_NAME}_node
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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## Mark libraries for installation
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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} ${PROJECT_NAME}_converter ${PROJECT_NAME}_publisher ${PROJECT_NAME}_subscriber
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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 ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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PATTERN ".svn" EXCLUDE
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)
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## Mark other files for installation (e.g. launch and bag files, etc.)
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_amr_control.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)
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