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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5.0)
project(object_detection_ros2)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
#find_package(Boost REQUIRED)
find_package(PCL REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(OpenCV REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(pcl_ros REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(shape_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(laser_geometry REQUIRED)
find_package(ros2_msg REQUIRED)
include_directories(include ${cv_bridge_INCLUDE_DIRS})
add_library(object_detection_ros2 SHARED
src/pcl_object_detection.cpp)
target_compile_definitions(object_detection_ros2
PRIVATE "COMPOSITION_BUILDING_DLL")
ament_target_dependencies(object_detection_ros2
"rclcpp"
"sensor_msgs"
"std_msgs"
"cv_bridge"
"OpenCV"
"pcl_conversions"
"PCL"
geometry_msgs
pcl_ros
shape_msgs
tf2_ros
visualization_msgs
ros2_msg
)
rclcpp_components_register_nodes(object_detection_ros2 "object_detection_ros2::PclObjectDetection")
set(node_plugins "${node_plugins}object_detection_ros2::PclObjectDetection;$<TARGET_FILE:object_detection_ros2>\n")
add_executable(object_detection_ros2_node
src/pcl_object_detection_node.cpp)
target_link_libraries(object_detection_ros2_node
object_detection_ros2
laser_geometry::laser_geometry
)
ament_target_dependencies(object_detection_ros2_node
"rclcpp"
)
install(TARGETS
object_detection_ros2
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(TARGETS
object_detection_ros2_node
DESTINATION lib/${PROJECT_NAME}
)
# Install launch files.
install(DIRECTORY
launch
DESTINATION share/${PROJECT_NAME}
)
#install(DIRECTORY include
# DESTINATION include/${PROJECT_NAME}
#)
ament_export_dependencies(
laser_geometry
)
ament_package()