initial commit

ov_eval/cmake/ROS2.cmake

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+cmake_minimum_required(VERSION 3.3)
+
+# Find ROS build system
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(ov_core REQUIRED)
+
+# Describe ROS project
+option(ENABLE_ROS "Enable or disable building with ROS (if it is found)" ON)
+if (NOT ENABLE_ROS)
+    message(FATAL_ERROR "Build with ROS1.cmake if you don't have ROS.")
+endif ()
+add_definitions(-DROS_AVAILABLE=2)
+
+# Include our header files
+include_directories(
+        src
+        ${EIGEN3_INCLUDE_DIR}
+        ${Boost_INCLUDE_DIRS}
+        ${PYTHON_INCLUDE_DIRS}
+)
+
+# Set link libraries used by all binaries
+list(APPEND thirdparty_libraries
+        ${Boost_LIBRARIES}
+)
+
+##################################################
+# Make the shared library
+##################################################
+
+list(APPEND LIBRARY_SOURCES
+        src/dummy.cpp
+        src/alignment/AlignTrajectory.cpp
+        src/alignment/AlignUtils.cpp
+        src/calc/ResultTrajectory.cpp
+        src/calc/ResultSimulation.cpp
+        src/utils/Loader.cpp
+)
+file(GLOB_RECURSE LIBRARY_HEADERS "src/*.h")
+add_library(ov_eval_lib SHARED ${LIBRARY_SOURCES} ${LIBRARY_HEADERS})
+ament_target_dependencies(ov_eval_lib rclcpp ov_core)
+target_link_libraries(ov_eval_lib ${thirdparty_libraries})
+target_include_directories(ov_eval_lib PUBLIC src/)
+install(TARGETS ov_eval_lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION bin
+        PUBLIC_HEADER DESTINATION include
+)
+install(DIRECTORY src/
+        DESTINATION include
+        FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp"
+)
+ament_export_include_directories(include)
+ament_export_libraries(ov_eval_lib)
+
+##################################################
+# Make binary files!
+##################################################
+
+# TODO: UPGRADE THIS TO ROS2 AS ANOTHER FILE!!
+#if (catkin_FOUND AND ENABLE_ROS)
+#    add_executable(pose_to_file src/pose_to_file.cpp)
+#    target_link_libraries(pose_to_file ov_eval_lib ${thirdparty_libraries})
+#    add_executable(live_align_trajectory src/live_align_trajectory.cpp)
+#    target_link_libraries(live_align_trajectory ov_eval_lib ${thirdparty_libraries})
+#endif ()
+
+add_executable(format_converter src/format_converter.cpp)
+ament_target_dependencies(format_converter rclcpp ov_core)
+target_link_libraries(format_converter ov_eval_lib ${thirdparty_libraries})
+install(TARGETS format_converter DESTINATION lib/${PROJECT_NAME})
+
+add_executable(error_comparison src/error_comparison.cpp)
+ament_target_dependencies(error_comparison rclcpp ov_core)
+target_link_libraries(error_comparison ov_eval_lib ${thirdparty_libraries})
+install(TARGETS error_comparison DESTINATION lib/${PROJECT_NAME})
+
+add_executable(error_dataset src/error_dataset.cpp)
+ament_target_dependencies(error_dataset rclcpp ov_core)
+target_link_libraries(error_dataset ov_eval_lib ${thirdparty_libraries})
+install(TARGETS error_dataset DESTINATION lib/${PROJECT_NAME})
+
+add_executable(error_singlerun src/error_singlerun.cpp)
+ament_target_dependencies(error_singlerun rclcpp ov_core)
+target_link_libraries(error_singlerun ov_eval_lib ${thirdparty_libraries})
+install(TARGETS error_singlerun DESTINATION lib/${PROJECT_NAME})
+
+add_executable(error_simulation src/error_simulation.cpp)
+ament_target_dependencies(error_simulation rclcpp ov_core)
+target_link_libraries(error_simulation ov_eval_lib ${thirdparty_libraries})
+install(TARGETS error_simulation DESTINATION lib/${PROJECT_NAME})
+
+add_executable(timing_flamegraph src/timing_flamegraph.cpp)
+ament_target_dependencies(timing_flamegraph rclcpp ov_core)
+target_link_libraries(timing_flamegraph ov_eval_lib ${thirdparty_libraries})
+install(TARGETS timing_flamegraph DESTINATION lib/${PROJECT_NAME})
+
+add_executable(timing_comparison src/timing_comparison.cpp)
+ament_target_dependencies(timing_comparison rclcpp ov_core)
+target_link_libraries(timing_comparison ov_eval_lib ${thirdparty_libraries})
+install(TARGETS timing_comparison DESTINATION lib/${PROJECT_NAME})
+
+add_executable(timing_percentages src/timing_percentages.cpp)
+ament_target_dependencies(timing_percentages rclcpp ov_core)
+target_link_libraries(timing_percentages ov_eval_lib ${thirdparty_libraries})
+install(TARGETS timing_percentages DESTINATION lib/${PROJECT_NAME})
+
+add_executable(plot_trajectories src/plot_trajectories.cpp)
+ament_target_dependencies(plot_trajectories rclcpp ov_core)
+target_link_libraries(plot_trajectories ov_eval_lib ${thirdparty_libraries})
+install(TARGETS plot_trajectories DESTINATION lib/${PROJECT_NAME})
+
+
+##################################################
+# Python scripts!
+##################################################
+
+# TODO: UPGRADE THIS TO ROS2 AS ANOTHER FILE!!
+#if (catkin_FOUND AND ENABLE_ROS)
+#    catkin_install_python(PROGRAMS python/pid_ros.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+#    catkin_install_python(PROGRAMS python/pid_sys.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+#endif ()
+
+
+# finally define this as the package
+ament_package()