-
Notifications
You must be signed in to change notification settings - Fork 17
/
CMakeLists.txt
102 lines (86 loc) · 2.73 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
cmake_minimum_required(VERSION 3.5)
project(ros2_livox_simulation)
add_compile_options(-std=c++17)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# 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 dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(gazebo_dev REQUIRED)
find_package(gazebo_ros REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(livox_ros_driver2 REQUIRED)
find_package(Boost REQUIRED COMPONENTS chrono)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
include_directories(
include
)
include_directories(${GAZEBO_INCLUDE_DIRS})
include_directories(/usr/include/gazebo-11/gazebo)
link_directories(${GAZEBO_LIBRARY_DIRS})
install(DIRECTORY include/
DESTINATION include
)
add_library(ros2_livox SHARED src/livox_points_plugin.cpp src/livox_ode_multiray_shape.cpp)
target_link_libraries(ros2_livox ${GAZEBO_LIBRARIES} RayPlugin GpuRayPlugin)
ament_target_dependencies(ros2_livox rclcpp std_msgs sensor_msgs geometry_msgs gazebo_dev gazebo_ros tf2_ros livox_ros_driver2 )
target_link_libraries(ros2_livox libprotobuf.so.9)
target_link_libraries(ros2_livox libboost_chrono.so.1.71.0)
target_include_directories(ros2_livox PRIVATE include)
#install(TARGETS ros2_livox DESTINATION lib/${PROJECT_NAME})
install(TARGETS ros2_livox
LIBRARY DESTINATION lib)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
ament_export_libraries(
ros2_livox
)
set(CSV_FILES
scan_mode/mid40.csv
scan_mode/mid70.csv
scan_mode/mid360.csv
scan_mode/tele.csv
scan_mode/horizon.csv
scan_mode/HAP.csv
scan_mode/avia.csv
)
foreach(CSV_FILE ${CSV_FILES})
configure_file(${CSV_FILE} ${CMAKE_CURRENT_BINARY_DIR}/${CSV_FILE} COPYONLY)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${CSV_FILE}
DESTINATION share/${PROJECT_NAME}/scan_mode
)
endforeach()
set(URDF_FILES
urdf/mid40.xacro
urdf/mid70.xacro
urdf/mid360.xacro
urdf/tele.xacro
urdf/horizon.xacro
urdf/HAP.xacro
urdf/avia.xacro
)
foreach(URDF_FILES ${URDF_FILES})
configure_file(${URDF_FILES} ${CMAKE_CURRENT_BINARY_DIR}/${URDF_FILES} COPYONLY)
install(FILES ${CMAKE_CURRENT_BINARY_DIR}/${URDF_FILES}
DESTINATION share/${PROJECT_NAME}/urdf
)
endforeach()
ament_package()