247 lines
8.0 KiB
CMake
247 lines
8.0 KiB
CMake
cmake_minimum_required(VERSION 3.0.2)
|
|
project(amr_comunication)
|
|
|
|
## Compile as C++11, supported in ROS Kinetic and newer
|
|
add_compile_options(-std=c++17)
|
|
|
|
## Find catkin macros and libraries
|
|
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
|
|
## is used, also find other catkin packages
|
|
find_package(catkin REQUIRED COMPONENTS
|
|
roscpp
|
|
std_msgs
|
|
)
|
|
|
|
## System dependencies are found with CMake's conventions
|
|
find_package(Boost REQUIRED COMPONENTS system thread)
|
|
find_package(PkgConfig REQUIRED)
|
|
find_package(Eigen3 REQUIRED)
|
|
|
|
pkg_check_modules(open62541 REQUIRED open62541)
|
|
pkg_check_modules(MOSQUITTO REQUIRED libmosquitto)
|
|
|
|
include_directories(SYSTEM ${EIGEN3_INCLUDE_DIRS})
|
|
|
|
## Uncomment this if the package has a setup.py. This macro ensures
|
|
## modules and global scripts declared therein get installed
|
|
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
|
|
# catkin_python_setup()
|
|
|
|
################################################
|
|
## Declare ROS messages, services and actions ##
|
|
################################################
|
|
|
|
## To declare and build messages, services or actions from within this
|
|
## package, follow these steps:
|
|
## * Let MSG_DEP_SET be the set of packages whose message types you use in
|
|
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
|
|
## * In the file package.xml:
|
|
## * add a build_depend tag for "message_generation"
|
|
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
|
|
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
|
|
## but can be declared for certainty nonetheless:
|
|
## * add a exec_depend tag for "message_runtime"
|
|
## * In this file (CMakeLists.txt):
|
|
## * add "message_generation" and every package in MSG_DEP_SET to
|
|
## find_package(catkin REQUIRED COMPONENTS ...)
|
|
## * add "message_runtime" and every package in MSG_DEP_SET to
|
|
## catkin_package(CATKIN_DEPENDS ...)
|
|
## * uncomment the add_*_files sections below as needed
|
|
## and list every .msg/.srv/.action file to be processed
|
|
## * uncomment the generate_messages entry below
|
|
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
|
|
|
|
## Generate messages in the 'msg' folder
|
|
# add_message_files(
|
|
# FILES
|
|
# Message1.msg
|
|
# Message2.msg
|
|
# )
|
|
|
|
## Generate services in the 'srv' folder
|
|
# add_service_files(
|
|
# FILES
|
|
# Service1.srv
|
|
# Service2.srv
|
|
# )
|
|
|
|
## Generate actions in the 'action' folder
|
|
# add_action_files(
|
|
# FILES
|
|
# Action1.action
|
|
# Action2.action
|
|
# )
|
|
|
|
## Generate added messages and services with any dependencies listed here
|
|
# generate_messages(
|
|
# DEPENDENCIES
|
|
# std_msgs
|
|
# )
|
|
|
|
################################################
|
|
## Declare ROS dynamic reconfigure parameters ##
|
|
################################################
|
|
|
|
## To declare and build dynamic reconfigure parameters within this
|
|
## package, follow these steps:
|
|
## * In the file package.xml:
|
|
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
|
|
## * In this file (CMakeLists.txt):
|
|
## * add "dynamic_reconfigure" to
|
|
## find_package(catkin REQUIRED COMPONENTS ...)
|
|
## * uncomment the "generate_dynamic_reconfigure_options" section below
|
|
## and list every .cfg file to be processed
|
|
|
|
## Generate dynamic reconfigure parameters in the 'cfg' folder
|
|
# generate_dynamic_reconfigure_options(
|
|
# cfg/DynReconf1.cfg
|
|
# cfg/DynReconf2.cfg
|
|
# )
|
|
|
|
###################################
|
|
## catkin specific configuration ##
|
|
###################################
|
|
## The catkin_package macro generates cmake config files for your package
|
|
## Declare things to be passed to dependent projects
|
|
## INCLUDE_DIRS: uncomment this if your package contains header files
|
|
## LIBRARIES: libraries you create in this project that dependent projects also need
|
|
## CATKIN_DEPENDS: catkin_packages dependent projects also need
|
|
## DEPENDS: system dependencies of this project that dependent projects also need
|
|
catkin_package(
|
|
INCLUDE_DIRS include
|
|
LIBRARIES opc_ua_server vda_5050_connector ${PROJECT_NAME}_utils
|
|
CATKIN_DEPENDS roscpp std_msgs
|
|
DEPENDS Boost open62541 MOSQUITTO EIGEN3
|
|
)
|
|
|
|
###########
|
|
## Build ##
|
|
###########
|
|
|
|
## Specify additional locations of header files
|
|
## Your package locations should be listed before other locations
|
|
include_directories(
|
|
include
|
|
${catkin_INCLUDE_DIRS}
|
|
${EIGEN3_INCLUDE_DIRS}
|
|
## ${MOSQUITTO_INCLUDE_DIRS}
|
|
${BOOST_INCLUDE_DIRS}
|
|
)
|
|
|
|
## Declare a C++ library
|
|
add_library(${PROJECT_NAME}_utils
|
|
src/vda_5050/utils/curve_common.cpp
|
|
src/vda_5050/utils/pose.cpp
|
|
src/vda_5050/utils/line_common.cpp
|
|
)
|
|
|
|
add_library(opc_ua_server
|
|
src/opc_ua/ua_server.cpp
|
|
)
|
|
|
|
add_library(vda_5050_connector
|
|
src/vda_5050/vda_5050_connector.cpp
|
|
)
|
|
|
|
## Add cmake target dependencies of the library
|
|
## as an example, code may need to be generated before libraries
|
|
## either from message generation or dynamic reconfigure
|
|
add_dependencies(opc_ua_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
|
add_dependencies(${PROJECT_NAME}_utils ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
|
add_dependencies(vda_5050_connector ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
|
|
|
## Declare a C++ executable
|
|
## With catkin_make all packages are built within a single CMake context
|
|
## The recommended prefix ensures that target names across packages don't collide
|
|
add_executable(vda_5050_connector_node test/vda_5050_connector_node.cpp)
|
|
|
|
## Rename C++ executable without prefix
|
|
## The above recommended prefix causes long target names, the following renames the
|
|
## target back to the shorter version for ease of user use
|
|
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
|
|
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
|
|
|
|
## Add cmake target dependencies of the executable
|
|
## same as for the library above
|
|
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
|
|
|
## Specify libraries to link a library or executable target against
|
|
target_link_libraries(opc_ua_server
|
|
${FreeOpcUa_LIBRARIES}
|
|
${catkin_LIBRARIES}
|
|
${Boost_LIBRARIES}
|
|
open62541
|
|
)
|
|
|
|
target_link_libraries(${PROJECT_NAME}_utils
|
|
${catkin_LIBRARIES}
|
|
${Boost_LIBRARIES}
|
|
${Eigen_LIBRARIES}
|
|
)
|
|
|
|
target_link_libraries(vda_5050_connector
|
|
${catkin_LIBRARIES}
|
|
${Boost_LIBRARIES}
|
|
${PROJECT_NAME}_utils
|
|
${MOSQUITTO_LIBRARIES}
|
|
)
|
|
|
|
target_link_libraries(vda_5050_connector_node
|
|
vda_5050_connector
|
|
${catkin_LIBRARIES}
|
|
)
|
|
#############
|
|
## Install ##
|
|
#############
|
|
|
|
# all install targets should use catkin DESTINATION variables
|
|
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
|
|
|
|
## Mark executable scripts (Python etc.) for installation
|
|
## in contrast to setup.py, you can choose the destination
|
|
# catkin_install_python(PROGRAMS
|
|
# scripts/my_python_script
|
|
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
# )
|
|
|
|
## Mark executables for installation
|
|
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
|
|
# install(TARGETS ${PROJECT_NAME}_node
|
|
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
|
|
# )
|
|
|
|
## Mark libraries for installation
|
|
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
|
install(TARGETS opc_ua_server vda_5050_connector ${PROJECT_NAME}_utils
|
|
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
|
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
|
)
|
|
|
|
## Mark cpp header files for installation
|
|
install(DIRECTORY include/${PROJECT_NAME}/
|
|
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
|
FILES_MATCHING PATTERN "*.h"
|
|
PATTERN ".svn" EXCLUDE
|
|
)
|
|
|
|
## Mark other files for installation (e.g. launch and bag files, etc.)
|
|
# install(FILES
|
|
# # myfile1
|
|
# # myfile2
|
|
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
|
|
# )
|
|
|
|
#############
|
|
## Testing ##
|
|
#############
|
|
|
|
## Add gtest based cpp test target and link libraries
|
|
# catkin_add_gtest(${PROJECT_NAME}-test test/test_amr_comunication.cpp)
|
|
# if(TARGET ${PROJECT_NAME}-test)
|
|
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
|
|
# endif()
|
|
|
|
## Add folders to be run by python nosetests
|
|
# catkin_add_nosetests(test)
|