244 lines
8.1 KiB
CMake
244 lines
8.1 KiB
CMake
# ========================================================
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# ROOT CMakeLists.txt
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# Đặt ở: Navigations/CMakeLists.txt
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# ========================================================
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cmake_minimum_required(VERSION 3.0.2)
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project(navigations VERSION 1.0.0 LANGUAGES CXX)
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# Chuẩn C++
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# Build type
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if(NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE Release)
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endif()
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# Flags chung
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# Warning flags - disabled to suppress warnings during build
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# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -w") # -w suppresses all warnings
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set(CMAKE_CXX_FLAGS_DEBUG "-g -O0")
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set(CMAKE_CXX_FLAGS_RELEASE "-O3 -DNDEBUG")
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message(STATUS "========================================")
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message(STATUS "Building Navigations Project")
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message(STATUS "Build type: ${CMAKE_BUILD_TYPE}")
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message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
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message(STATUS "========================================")
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# Build các packages theo thứ tự phụ thuộc
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# 1. Core libraries (header-only hoặc base libraries)
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if (NOT TARGET robot_time)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/robot_time)
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endif()
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if (NOT TARGET xmlrpcpp)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/xmlrpcpp)
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endif()
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if (NOT TARGET robot_cpp)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/robot_cpp)
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endif()
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if (NOT TARGET data_convert)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/data_convert)
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endif()
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if (NOT TARGET geometry2)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/geometry2)
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endif()
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if (NOT TARGET common_msgs)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/common_msgs)
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endif()
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if (NOT TARGET laser_geometry)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/laser_geometry)
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endif()
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if (NOT TARGET voxel_grid)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/voxel_grid)
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endif()
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if (NOT TARGET robot_nav_2d_msgs)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/robot_nav_2d_msgs)
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endif()
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if (NOT TARGET costmap_2d)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/costmap_2d)
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endif()
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if (NOT TARGET robot_nav_2d_utils)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/robot_nav_2d_utils)
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endif()
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if (NOT TARGET laser_filter)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Libraries/laser_filter)
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endif()
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if (NOT TARGET robot_nav_core)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Navigations/Cores/robot_nav_core)
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endif()
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if (NOT TARGET nav_grid)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Navigations/Libraries/nav_grid)
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endif()
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if (NOT TARGET robot_nav_core2)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Navigations/Cores/robot_nav_core2)
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endif()
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if (NOT TARGET robot_nav_core_adapter)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Navigations/Cores/robot_nav_core_adapter)
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endif()
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if (NOT TARGET move_base_core)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Navigations/Cores/move_base_core)
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endif()
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if (NOT TARGET mkt_msgs)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/mkt_msgs)
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endif()
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if (NOT TARGET angles)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/angles)
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endif()
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if (NOT TARGET kalman)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/kalman)
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endif()
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if (NOT TARGET score_algorithm)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Cores/score_algorithm)
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endif()
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if (NOT TARGET mkt_plugins)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/mkt_plugins)
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endif()
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if (NOT TARGET mkt_algorithm)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Libraries/mkt_algorithm)
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endif()
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if (NOT TARGET two_points_planner)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/global_planners/two_points_planner)
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endif()
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if (NOT TARGET custom_planner)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/global_planners/custom_planner)
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endif()
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if (NOT TARGET dock_planner)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/global_planners/dock_planner)
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endif()
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if (NOT TARGET pnkx_local_planner)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/local_planners/pnkx_local_planner)
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endif()
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if (NOT TARGET robot_actionlib_msgs)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Navigations/Libraries/robot_actionlib_msgs)
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endif()
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if (NOT TARGET robot_move_base_msgs)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Navigations/Libraries/robot_move_base_msgs)
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endif()
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if (NOT TARGET robot_clear_costmap_recovery)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Navigations/Libraries/robot_clear_costmap_recovery)
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endif()
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# 3. Packages being migrated from AMR_T800/Test
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#
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# Prefer the future in-tree location. Until the migration is physically done,
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# keep the current sibling Test directory buildable from this root CMake file.
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option(PNKX_NAV_CORE_BUILD_TEST_PACKAGES
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"Build navigation packages currently kept in AMR_T800/Test"
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ON)
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option(PNKX_NAV_CORE_BUILD_CATKIN_TEST_PACKAGES
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"Build Test packages that require a catkin workspace instead of standalone CMake"
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OFF)
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set(PNKX_NAV_CORE_TEST_PACKAGES_DIR ""
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CACHE PATH "Directory containing the migrated navigation Test packages")
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if(NOT PNKX_NAV_CORE_TEST_PACKAGES_DIR)
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if(IS_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/Test")
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set(PNKX_NAV_CORE_TEST_PACKAGES_DIR "${CMAKE_CURRENT_SOURCE_DIR}/Test")
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elseif(IS_DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/../Test")
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set(PNKX_NAV_CORE_TEST_PACKAGES_DIR "${CMAKE_CURRENT_SOURCE_DIR}/../Test")
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endif()
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endif()
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function(pnkx_add_test_package package_name)
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set(package_dir "${PNKX_NAV_CORE_TEST_PACKAGES_DIR}/${package_name}")
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if(EXISTS "${package_dir}/CMakeLists.txt")
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message(STATUS "[pnkx_nav_core] Adding migrated Test package: ${package_name}")
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add_subdirectory("${package_dir}" "${CMAKE_BINARY_DIR}/Test/${package_name}")
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else()
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message(WARNING
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"[pnkx_nav_core] Test package '${package_name}' was not found in "
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"'${PNKX_NAV_CORE_TEST_PACKAGES_DIR}'.")
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endif()
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endfunction()
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if(PNKX_NAV_CORE_BUILD_TEST_PACKAGES)
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if(NOT PNKX_NAV_CORE_TEST_PACKAGES_DIR)
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message(FATAL_ERROR
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"PNKX_NAV_CORE_BUILD_TEST_PACKAGES is ON, but no Test package directory was found. "
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"Set PNKX_NAV_CORE_TEST_PACKAGES_DIR explicitly.")
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endif()
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# Foundation and message packages.
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pnkx_add_test_package(angles)
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pnkx_add_test_package(image_geometry)
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pnkx_add_test_package(grid_map_core)
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pnkx_add_test_package(vda5050_msgs)
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# Planner libraries and plugins. SBPL must precede its lattice plugin.
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pnkx_add_test_package(sbpl)
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pnkx_add_test_package(sbpl_lattice_planner)
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pnkx_add_test_package(base_local_planner)
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pnkx_add_test_package(hybrid_local_planner)
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pnkx_add_test_package(mppi_local_planner)
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pnkx_add_test_package(priest_local_planner)
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pnkx_add_test_package(stanley_local_planner)
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# Supporting runtime packages and test utilities.
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pnkx_add_test_package(depth_image_proc)
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pnkx_add_test_package(action_core)
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pnkx_add_test_package(recovery_core)
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pnkx_add_test_package(mission_adapters)
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pnkx_add_test_package(nav_test_harness)
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# Must be last: it consumes planners, actions, recovery and mission APIs.
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pnkx_add_test_package(move_base2)
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endif()
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# These packages call find_package(catkin REQUIRED ...) for T800 packages.
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# Keep them outside the standalone graph until their dependencies export
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# *Config.cmake files, or build them through a catkin workspace.
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if(PNKX_NAV_CORE_BUILD_CATKIN_TEST_PACKAGES)
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pnkx_add_test_package(deep_mpc_local_planner)
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pnkx_add_test_package(nav_ros_bridge)
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pnkx_add_test_package(depth_local_costmap_noetic_test)
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endif()
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# 2. Main packages (phụ thuộc vào cores)
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# message(STATUS "[move_base] Shared library configured")
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if (NOT TARGET move_base)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/Navigations/Packages/move_base)
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endif()
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# C API for .NET/C# integration
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if (NOT TARGET navigation_c_api)
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add_subdirectory(${CMAKE_SOURCE_DIR}/src/APIs/c_api)
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endif()
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message(STATUS "========================================")
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message(STATUS "All packages configured successfully")
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message(STATUS "========================================")
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