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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(robot_localization)
find_package(catkin REQUIRED COMPONENTS
roscpp
tf
message_filters
std_msgs
geometry_msgs
nav_msgs
sensor_msgs
diagnostic_msgs
diagnostic_updater
cmake_modules
gps_common
message_generation)
find_package(Eigen REQUIRED)
add_definitions(-DEIGEN_NO_DEBUG)
###################################
## catkin specific configuration ##
###################################
add_service_files(
FILES
SetPose.srv
)
generate_messages(
DEPENDENCIES
geometry_msgs
std_msgs
)
catkin_package(
INCLUDE_DIRS include ${gps_common_INCLUDE_DIRS}
LIBRARIES filter_base ekf
CATKIN_DEPENDS
roscpp
tf
message_filters
std_msgs
geometry_msgs
nav_msgs
sensor_msgs
diagnostic_msgs
diagnostic_updater
cmake_modules
message_runtime
DEPENDS Eigen
)
###########
## Build ##
###########
include_directories(include ${catkin_INCLUDE_DIRS} ${gps_common_INCLUDE_DIRS} ${Eigen_INCLUDE_DIRS})
# Library definition
add_library(filter_utilities src/filter_utilities.cpp)
add_library(filter_base src/filter_base.cpp)
add_library(ekf src/ekf.cpp)
add_library(ukf src/ukf.cpp)
add_library(ros_filter_utilities src/ros_filter_utilities.cpp)
add_library(ros_filter src/ros_filter.cpp)
add_library(navsat_transform src/navsat_transform.cpp)
# Dependencies
add_dependencies(filter_base robot_localization_gencpp)
# Executables
add_executable(ekf_localization_node src/ekf_localization_node.cpp)
add_executable(ukf_localization_node src/ukf_localization_node.cpp)
add_executable(navsat_transform_node src/navsat_transform_node.cpp)
# Linking
target_link_libraries(ros_filter_utilities ${catkin_LIBRARIES})
target_link_libraries(filter_utilities ${catkin_LIBRARIES})
target_link_libraries(filter_base filter_utilities ${catkin_LIBRARIES})
target_link_libraries(ekf filter_base ${catkin_LIBRARIES})
target_link_libraries(ukf filter_base ${catkin_LIBRARIES})
target_link_libraries(ros_filter ekf ukf ros_filter_utilities ${catkin_LIBRARIES})
target_link_libraries(ekf_localization_node ros_filter ${catkin_LIBRARIES})
target_link_libraries(ukf_localization_node ros_filter ${catkin_LIBRARIES})
target_link_libraries(navsat_transform ${catkin_LIBRARIES})
target_link_libraries(navsat_transform_node navsat_transform ${catkin_LIBRARIES})
#############
## Install ##
#############
## Mark executables and/or libraries for installation
install(TARGETS
filter_utilities
filter_base
ekf
ukf
ros_filter_utilities
ros_filter
ekf_localization_node
ukf_localization_node
navsat_transform
navsat_transform_node
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE)
install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
FILES_MATCHING PATTERN "*.launch"
PATTERN ".svn" EXCLUDE)
#############
## Testing ##
#############
# Filter base unit tests
catkin_add_gtest(filter_base-test test/test_filter_base.cpp)
target_link_libraries(filter_base-test filter_base ${catkin_LIBRARIES})
if (CATKIN_ENABLE_TESTING)
find_package(rostest REQUIRED)
#### EKF TESTS #####
add_rostest_gtest(test_ekf
test/test_ekf.test
test/test_ekf.cpp)
target_link_libraries(test_ekf ros_filter ekf ${catkin_LIBRARIES})
add_rostest_gtest(test_ekf_localization_node_interfaces
test/test_ekf_localization_node_interfaces.test
test/test_ekf_localization_node_interfaces.cpp)
target_link_libraries(test_ekf_localization_node_interfaces filter_base ${catkin_LIBRARIES})
add_rostest_gtest(test_ekf_localization_node_bag1
test/test_ekf_localization_node_bag1.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ekf_localization_node_bag1 ${catkin_LIBRARIES})
add_rostest_gtest(test_ekf_localization_node_bag2
test/test_ekf_localization_node_bag2.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ekf_localization_node_bag2 ${catkin_LIBRARIES})
add_rostest_gtest(test_ekf_localization_node_bag3
test/test_ekf_localization_node_bag3.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ekf_localization_node_bag3 ${catkin_LIBRARIES})
#### UKF TESTS #####
add_rostest_gtest(test_ukf
test/test_ukf.test
test/test_ukf.cpp)
target_link_libraries(test_ukf ros_filter ukf ${catkin_LIBRARIES})
add_rostest_gtest(test_ukf_localization_node_interfaces
test/test_ukf_localization_node_interfaces.test
test/test_ukf_localization_node_interfaces.cpp)
target_link_libraries(test_ukf_localization_node_interfaces ${catkin_LIBRARIES})
add_rostest_gtest(test_ukf_localization_node_bag1
test/test_ukf_localization_node_bag1.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ukf_localization_node_bag1 ${catkin_LIBRARIES})
add_rostest_gtest(test_ukf_localization_node_bag2
test/test_ukf_localization_node_bag2.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ukf_localization_node_bag2 ${catkin_LIBRARIES})
add_rostest_gtest(test_ukf_localization_node_bag3
test/test_ukf_localization_node_bag3.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ukf_localization_node_bag3 ${catkin_LIBRARIES})
endif()