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CMakeLists.txt
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CMakeLists.txt
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#[[
Copyright (c) 2024 Numurus, LLC <https://www.numurus.com>.
This file is part of nepi-engine
(see https://github.com/nepi-engine).
License: 3-clause BSD, see https://opensource.org/licenses/BSD-3-Clause
]]
cmake_minimum_required(VERSION 2.8.3)
project(nepi_managers)
## Compile as C++11, supported in ROS Kinetic and newer
add_compile_options(-std=c++14)
add_compile_options(-Wall)
# Following relies (sometimes, e.g., Jetpack-installed OpenCV) on a symlink from /usr/share/OpenCV to
# true OpenCV cmake folder (e.g., usr/lib/aarch64-linux-gnu/cmake/opencv4 on Jetson)
set(OpenCV_DIR /usr/share/OpenCV)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
## Note that using COMPONENTS here ensures that the package environment variables
## are combined into the generic corresponding catkin_<ENV_VARIABLE> stuff, so, for example
## we don't need to explicitly link OpenCV_LIBRARIES, instead just link to catkin_LIBRARIES and
## get OpenCV for free (same holds for catkin_INCLUDE_DIRS, etc.)
find_package(catkin REQUIRED COMPONENTS roscpp nepi_edge_sdk_base nepi_ros_interfaces cv_bridge OpenCV pcl_ros pcl_conversions tf2_ros)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
find_package(PkgConfig)
## Use the verbose version of make
#set(CMAKE_VERBOSE_MAKEFILE ON)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate added messages and services with any dependencies listed here
# generate_messages(
# DEPENDENCIES
# std_msgs # Or other packages containing msgs
#)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
CATKIN_DEPENDS nepi_edge_sdk_base nepi_ros_interfaces
)
catkin_install_python(PROGRAMS
scripts/system_mgr.py
scripts/config_mgr.py
scripts/time_sync_mgr.py
scripts/network_mgr.py
scripts/rui_config_mgr.py
scripts/drivers_mgr.py
scripts/apps_mgr.py
scripts/automation_mgr.py
scripts/ai_detector_mgr.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
#########################################
### NavPose Mgr
###########
## Build NavPose
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${catkin_INCLUDE_DIRS}
)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Nav/Pos Mgr Node
add_executable(nav_pose_mgr
src/nav_pose_mgr.cpp
)
add_dependencies(nav_pose_mgr
${catkin_EXPORTED_TARGETS})
target_link_libraries(nav_pose_mgr
${catkin_LIBRARIES})
#############
## Install NavPose##
#############
#catkin_install_python(PROGRAMS
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
#)
## Mark executables and/or libraries for installation
install(TARGETS
nav_pose_mgr
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark cpp header files for installation - Msgs and Services (generated headers) are under the project name subdir
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
## Non-generated headers are located directly in include and get copied to the root of include in the install directory
install(DIRECTORY include/
DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)
## Mark other files for installation (e.g. launch and bag files, etc.)
#install(FILES
#
#DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#)
#install(PROGRAMS
#
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
#)
# Install etc files (startup scripts, factory configs, etc.) to the global (not project) etc destination
install(DIRECTORY etc/
DESTINATION ${CATKIN_GLOBAL_ETC_DESTINATION}
USE_SOURCE_PERMISSIONS
)