initial commit
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197
ov_eval/cmake/ROS1.cmake
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197
ov_eval/cmake/ROS1.cmake
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cmake_minimum_required(VERSION 3.3)
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# Find ROS build system
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find_package(catkin QUIET COMPONENTS roscpp rospy geometry_msgs nav_msgs sensor_msgs ov_core)
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# Describe ROS project
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option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON)
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if (catkin_FOUND AND ENABLE_ROS)
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add_definitions(-DROS_AVAILABLE=1)
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catkin_package(
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CATKIN_DEPENDS roscpp rospy geometry_msgs nav_msgs sensor_msgs ov_core
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INCLUDE_DIRS src/
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LIBRARIES ov_eval_lib
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)
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else ()
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add_definitions(-DROS_AVAILABLE=0)
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message(WARNING "BUILDING WITHOUT ROS!")
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include(GNUInstallDirs)
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set(CATKIN_PACKAGE_LIB_DESTINATION "${CMAKE_INSTALL_LIBDIR}")
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set(CATKIN_PACKAGE_BIN_DESTINATION "${CMAKE_INSTALL_BINDIR}")
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set(CATKIN_GLOBAL_INCLUDE_DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}")
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endif ()
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# Include our header files
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include_directories(
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src
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${EIGEN3_INCLUDE_DIR}
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${Boost_INCLUDE_DIRS}
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${PYTHON_INCLUDE_DIRS}
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${catkin_INCLUDE_DIRS}
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)
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# Set link libraries used by all binaries
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list(APPEND thirdparty_libraries
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${Boost_LIBRARIES}
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${catkin_LIBRARIES}
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)
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# If we are not building with ROS then we need to manually link to its headers
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# This isn't that elegant of a way, but this at least allows for building without ROS
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# See this stackoverflow answer: https://stackoverflow.com/a/11217008/7718197
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if (NOT catkin_FOUND OR NOT ENABLE_ROS)
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message(STATUS "MANUALLY LINKING TO OV_CORE LIBRARY....")
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include_directories(${CMAKE_SOURCE_DIR}/../ov_core/src/)
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file(GLOB_RECURSE OVCORE_LIBRARY_SOURCES "${CMAKE_SOURCE_DIR}/../ov_core/src/*.cpp")
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list(FILTER OVCORE_LIBRARY_SOURCES EXCLUDE REGEX ".*test_webcam\\.cpp$")
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list(FILTER OVCORE_LIBRARY_SOURCES EXCLUDE REGEX ".*test_tracking\\.cpp$")
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list(APPEND LIBRARY_SOURCES ${OVCORE_LIBRARY_SOURCES})
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file(GLOB_RECURSE OVCORE_LIBRARY_HEADERS "${CMAKE_SOURCE_DIR}/../ov_core/src/*.h")
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list(APPEND LIBRARY_HEADERS ${OVCORE_LIBRARY_HEADERS})
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endif ()
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##################################################
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# Make the shared library
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##################################################
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list(APPEND LIBRARY_SOURCES
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src/dummy.cpp
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src/alignment/AlignTrajectory.cpp
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src/alignment/AlignUtils.cpp
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src/calc/ResultTrajectory.cpp
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src/calc/ResultSimulation.cpp
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src/utils/Loader.cpp
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)
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file(GLOB_RECURSE LIBRARY_HEADERS "src/*.h")
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add_library(ov_eval_lib SHARED ${LIBRARY_SOURCES} ${LIBRARY_HEADERS})
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target_link_libraries(ov_eval_lib ${thirdparty_libraries})
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target_include_directories(ov_eval_lib PUBLIC src/)
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install(TARGETS ov_eval_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_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY src/
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DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
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)
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##################################################
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# Make binary files!
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##################################################
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if (catkin_FOUND AND ENABLE_ROS)
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add_executable(pose_to_file src/pose_to_file.cpp)
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target_link_libraries(pose_to_file ov_eval_lib ${thirdparty_libraries})
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install(TARGETS pose_to_file
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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_PACKAGE_BIN_DESTINATION}
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)
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add_executable(live_align_trajectory src/live_align_trajectory.cpp)
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target_link_libraries(live_align_trajectory ov_eval_lib ${thirdparty_libraries})
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install(TARGETS live_align_trajectory
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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_PACKAGE_BIN_DESTINATION}
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)
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endif ()
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add_executable(format_converter src/format_converter.cpp)
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target_link_libraries(format_converter ov_eval_lib ${thirdparty_libraries})
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install(TARGETS format_converter
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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_PACKAGE_BIN_DESTINATION}
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)
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add_executable(error_comparison src/error_comparison.cpp)
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target_link_libraries(error_comparison ov_eval_lib ${thirdparty_libraries})
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install(TARGETS error_comparison
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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_PACKAGE_BIN_DESTINATION}
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)
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add_executable(error_dataset src/error_dataset.cpp)
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target_link_libraries(error_dataset ov_eval_lib ${thirdparty_libraries})
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install(TARGETS error_dataset
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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_PACKAGE_BIN_DESTINATION}
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)
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add_executable(error_singlerun src/error_singlerun.cpp)
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target_link_libraries(error_singlerun ov_eval_lib ${thirdparty_libraries})
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install(TARGETS error_singlerun
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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_PACKAGE_BIN_DESTINATION}
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)
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add_executable(error_simulation src/error_simulation.cpp)
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target_link_libraries(error_simulation ov_eval_lib ${thirdparty_libraries})
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install(TARGETS error_simulation
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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_PACKAGE_BIN_DESTINATION}
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)
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add_executable(timing_flamegraph src/timing_flamegraph.cpp)
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target_link_libraries(timing_flamegraph ov_eval_lib ${thirdparty_libraries})
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install(TARGETS timing_flamegraph
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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_PACKAGE_BIN_DESTINATION}
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)
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add_executable(timing_comparison src/timing_comparison.cpp)
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target_link_libraries(timing_comparison ov_eval_lib ${thirdparty_libraries})
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install(TARGETS timing_comparison
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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_PACKAGE_BIN_DESTINATION}
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)
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add_executable(timing_percentages src/timing_percentages.cpp)
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target_link_libraries(timing_percentages ov_eval_lib ${thirdparty_libraries})
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install(TARGETS timing_percentages
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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_PACKAGE_BIN_DESTINATION}
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)
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add_executable(plot_trajectories src/plot_trajectories.cpp)
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target_link_libraries(plot_trajectories ov_eval_lib ${thirdparty_libraries})
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install(TARGETS plot_trajectories
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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_PACKAGE_BIN_DESTINATION}
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)
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##################################################
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# Python scripts!
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##################################################
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if (catkin_FOUND AND ENABLE_ROS)
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catkin_install_python(PROGRAMS python/pid_ros.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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catkin_install_python(PROGRAMS python/pid_sys.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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endif ()
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##################################################
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# Launch files!
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##################################################
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install(DIRECTORY launch/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
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)
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127
ov_eval/cmake/ROS2.cmake
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127
ov_eval/cmake/ROS2.cmake
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@@ -0,0 +1,127 @@
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cmake_minimum_required(VERSION 3.3)
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# Find ROS build system
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(ov_core REQUIRED)
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# Describe ROS project
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option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON)
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if (NOT ENABLE_ROS)
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message(FATAL_ERROR "Build with ROS1.cmake if you don't have ROS.")
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endif ()
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add_definitions(-DROS_AVAILABLE=2)
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# Include our header files
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include_directories(
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src
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${EIGEN3_INCLUDE_DIR}
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${Boost_INCLUDE_DIRS}
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${PYTHON_INCLUDE_DIRS}
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)
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# Set link libraries used by all binaries
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list(APPEND thirdparty_libraries
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${Boost_LIBRARIES}
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)
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##################################################
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# Make the shared library
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##################################################
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list(APPEND LIBRARY_SOURCES
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src/dummy.cpp
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src/alignment/AlignTrajectory.cpp
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src/alignment/AlignUtils.cpp
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src/calc/ResultTrajectory.cpp
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src/calc/ResultSimulation.cpp
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src/utils/Loader.cpp
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)
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file(GLOB_RECURSE LIBRARY_HEADERS "src/*.h")
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add_library(ov_eval_lib SHARED ${LIBRARY_SOURCES} ${LIBRARY_HEADERS})
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ament_target_dependencies(ov_eval_lib rclcpp ov_core)
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target_link_libraries(ov_eval_lib ${thirdparty_libraries})
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target_include_directories(ov_eval_lib PUBLIC src/)
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install(TARGETS ov_eval_lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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PUBLIC_HEADER DESTINATION include
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)
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install(DIRECTORY src/
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DESTINATION include
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FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
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)
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ament_export_include_directories(include)
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ament_export_libraries(ov_eval_lib)
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##################################################
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# Make binary files!
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##################################################
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# TODO: UPGRADE THIS TO ROS2 AS ANOTHER FILE!!
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#if (catkin_FOUND AND ENABLE_ROS)
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# add_executable(pose_to_file src/pose_to_file.cpp)
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# target_link_libraries(pose_to_file ov_eval_lib ${thirdparty_libraries})
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# add_executable(live_align_trajectory src/live_align_trajectory.cpp)
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# target_link_libraries(live_align_trajectory ov_eval_lib ${thirdparty_libraries})
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#endif ()
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add_executable(format_converter src/format_converter.cpp)
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ament_target_dependencies(format_converter rclcpp ov_core)
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target_link_libraries(format_converter ov_eval_lib ${thirdparty_libraries})
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install(TARGETS format_converter DESTINATION lib/${PROJECT_NAME})
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add_executable(error_comparison src/error_comparison.cpp)
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ament_target_dependencies(error_comparison rclcpp ov_core)
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target_link_libraries(error_comparison ov_eval_lib ${thirdparty_libraries})
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install(TARGETS error_comparison DESTINATION lib/${PROJECT_NAME})
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add_executable(error_dataset src/error_dataset.cpp)
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ament_target_dependencies(error_dataset rclcpp ov_core)
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target_link_libraries(error_dataset ov_eval_lib ${thirdparty_libraries})
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install(TARGETS error_dataset DESTINATION lib/${PROJECT_NAME})
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add_executable(error_singlerun src/error_singlerun.cpp)
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ament_target_dependencies(error_singlerun rclcpp ov_core)
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target_link_libraries(error_singlerun ov_eval_lib ${thirdparty_libraries})
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install(TARGETS error_singlerun DESTINATION lib/${PROJECT_NAME})
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add_executable(error_simulation src/error_simulation.cpp)
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ament_target_dependencies(error_simulation rclcpp ov_core)
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target_link_libraries(error_simulation ov_eval_lib ${thirdparty_libraries})
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install(TARGETS error_simulation DESTINATION lib/${PROJECT_NAME})
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add_executable(timing_flamegraph src/timing_flamegraph.cpp)
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ament_target_dependencies(timing_flamegraph rclcpp ov_core)
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target_link_libraries(timing_flamegraph ov_eval_lib ${thirdparty_libraries})
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install(TARGETS timing_flamegraph DESTINATION lib/${PROJECT_NAME})
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add_executable(timing_comparison src/timing_comparison.cpp)
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ament_target_dependencies(timing_comparison rclcpp ov_core)
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target_link_libraries(timing_comparison ov_eval_lib ${thirdparty_libraries})
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install(TARGETS timing_comparison DESTINATION lib/${PROJECT_NAME})
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add_executable(timing_percentages src/timing_percentages.cpp)
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ament_target_dependencies(timing_percentages rclcpp ov_core)
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target_link_libraries(timing_percentages ov_eval_lib ${thirdparty_libraries})
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install(TARGETS timing_percentages DESTINATION lib/${PROJECT_NAME})
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add_executable(plot_trajectories src/plot_trajectories.cpp)
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ament_target_dependencies(plot_trajectories rclcpp ov_core)
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target_link_libraries(plot_trajectories ov_eval_lib ${thirdparty_libraries})
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install(TARGETS plot_trajectories DESTINATION lib/${PROJECT_NAME})
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##################################################
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# Python scripts!
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##################################################
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# TODO: UPGRADE THIS TO ROS2 AS ANOTHER FILE!!
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#if (catkin_FOUND AND ENABLE_ROS)
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# catkin_install_python(PROGRAMS python/pid_ros.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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# catkin_install_python(PROGRAMS python/pid_sys.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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#endif ()
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# finally define this as the package
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ament_package()
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