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