116 lines
3.7 KiB
CMake
116 lines
3.7 KiB
CMake
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(tf2_ros REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(cv_bridge REQUIRED)
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find_package(image_transport REQUIRED)
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find_package(ov_core REQUIRED)
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find_package(ov_init 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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list(APPEND ament_libraries
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rclcpp
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tf2_ros
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tf2_geometry_msgs
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std_msgs
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geometry_msgs
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sensor_msgs
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nav_msgs
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cv_bridge
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image_transport
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ov_core
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ov_init
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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/sim/Simulator.cpp
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src/state/State.cpp
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src/state/StateHelper.cpp
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src/state/Propagator.cpp
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src/core/VioManager.cpp
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src/update/UpdaterHelper.cpp
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src/update/UpdaterMSCKF.cpp
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src/update/UpdaterSLAM.cpp
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src/update/UpdaterZeroVelocity.cpp
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)
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list(APPEND LIBRARY_SOURCES src/ros/ROS2Visualizer.cpp)
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file(GLOB_RECURSE LIBRARY_HEADERS "src/*.h")
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add_library(ov_msckf_lib SHARED ${LIBRARY_SOURCES} ${LIBRARY_HEADERS})
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ament_target_dependencies(ov_msckf_lib ${ament_libraries})
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target_link_libraries(ov_msckf_lib ${thirdparty_libraries})
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target_include_directories(ov_msckf_lib PUBLIC src/)
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install(TARGETS ov_msckf_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_msckf_lib)
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##################################################
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# Make binary files!
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##################################################
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add_executable(run_subscribe_msckf src/run_subscribe_msckf.cpp)
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ament_target_dependencies(run_subscribe_msckf ${ament_libraries})
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target_link_libraries(run_subscribe_msckf ov_msckf_lib ${thirdparty_libraries})
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install(TARGETS run_subscribe_msckf DESTINATION lib/${PROJECT_NAME})
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add_executable(run_simulation src/run_simulation.cpp)
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ament_target_dependencies(run_simulation ${ament_libraries})
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target_link_libraries(run_simulation ov_msckf_lib ${thirdparty_libraries})
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install(TARGETS run_simulation DESTINATION lib/${PROJECT_NAME})
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add_executable(test_sim_meas src/test_sim_meas.cpp)
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ament_target_dependencies(test_sim_meas ${ament_libraries})
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target_link_libraries(test_sim_meas ov_msckf_lib ${thirdparty_libraries})
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install(TARGETS test_sim_meas DESTINATION lib/${PROJECT_NAME})
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add_executable(test_sim_repeat src/test_sim_repeat.cpp)
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ament_target_dependencies(test_sim_repeat ${ament_libraries})
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target_link_libraries(test_sim_repeat ov_msckf_lib ${thirdparty_libraries})
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install(TARGETS test_sim_repeat DESTINATION lib/${PROJECT_NAME})
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# Install launch and config directories
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install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch/)
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install(DIRECTORY ../config/ DESTINATION share/${PROJECT_NAME}/config/)
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# finally define this as the package
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ament_package()
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