initial commit

ov_init/cmake/ROS2.cmake

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+cmake_minimum_required(VERSION 3.3)
+
+# Find ros dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(cv_bridge 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}
+        ${CERES_INCLUDE_DIRS}
+)
+
+# Set link libraries used by all binaries
+list(APPEND thirdparty_libraries
+        ${Boost_LIBRARIES}
+        ${CERES_LIBRARIES}
+        ${OpenCV_LIBRARIES}
+)
+
+##################################################
+# Make the shared library
+##################################################
+
+list(APPEND LIBRARY_SOURCES
+        src/dummy.cpp
+        src/init/InertialInitializer.cpp
+        src/dynamic/DynamicInitializer.cpp
+        src/static/StaticInitializer.cpp
+        src/sim/Simulator.cpp
+)
+file(GLOB_RECURSE LIBRARY_HEADERS "src/*.h")
+add_library(ov_init_lib SHARED ${LIBRARY_SOURCES} ${LIBRARY_HEADERS})
+ament_target_dependencies(ov_init_lib rclcpp ov_core cv_bridge)
+target_link_libraries(ov_init_lib ${thirdparty_libraries})
+target_include_directories(ov_init_lib PUBLIC src/)
+install(TARGETS ov_init_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_init_lib)
+
+##################################################
+# Make binary files!
+##################################################
+
+add_executable(test_simulation src/test_simulation.cpp)
+ament_target_dependencies(test_simulation ${ament_libraries})
+target_link_libraries(test_simulation ov_init_lib ${thirdparty_libraries})
+install(TARGETS test_simulation DESTINATION lib/${PROJECT_NAME})
+
+add_executable(test_dynamic_mle src/test_dynamic_mle.cpp)
+ament_target_dependencies(test_dynamic_mle ${ament_libraries})
+target_link_libraries(test_dynamic_mle ov_init_lib ${thirdparty_libraries})
+install(TARGETS test_dynamic_mle DESTINATION lib/${PROJECT_NAME})
+
+add_executable(test_dynamic_init src/test_dynamic_init.cpp)
+ament_target_dependencies(test_dynamic_init ${ament_libraries})
+target_link_libraries(test_dynamic_init ov_init_lib ${thirdparty_libraries})
+install(TARGETS test_dynamic_init DESTINATION lib/${PROJECT_NAME})
+
+# Install launch and config directories
+install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch/)
+
+# finally define this as the package
+ament_package()
+