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feat(cmake): make colcon build fast again (#146)
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* feat: cmake optimization in progress

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

* fix: fixed robosense symbols

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

* fix: fixed robosense hw monitor's cmake

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

* chore: applied changed needed after the rebase, deleted debug code, and cleaned unused parts

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

* chore: forgot to delete a comment

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

* fix: missed a package in the depends list

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>

---------

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
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@knzo25
knzo25 authored Jun 7, 2024
1 parent 46171bf commit 1a82516
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Showing 26 changed files with 640 additions and 305 deletions.
40 changes: 25 additions & 15 deletions nebula_common/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -2,13 +2,9 @@ cmake_minimum_required(VERSION 3.14)
project(nebula_common)

find_package(ament_cmake_auto REQUIRED)
find_package(PCL REQUIRED)
find_package(PCL REQUIRED COMPONENTS common)
find_package(pcl_conversions REQUIRED)
find_package(yaml-cpp REQUIRED)

ament_auto_find_build_dependencies()

# Default to C++17
if (NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
Expand All @@ -28,21 +24,35 @@ if(BUILD_TESTING)
endif()

include_directories(
include
SYSTEM
${YAML_CPP_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${PCL_COMMON_INCLUDE_DIRS}
include
SYSTEM
${YAML_CPP_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
)

link_libraries(
${PCL_LIBRARIES}
${YAML_CPP_LIBRARIES}
)

add_library(nebula_common SHARED
src/nebula_common.cpp
src/velodyne/velodyne_calibration_decoder.cpp
)

ament_auto_add_library(nebula_common SHARED
src/nebula_common.cpp
src/velodyne/velodyne_calibration_decoder.cpp
)
install(TARGETS nebula_common EXPORT export_nebula_common)
install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})

ament_export_include_directories("include/${PROJECT_NAME}")
ament_export_targets(export_nebula_common)

ament_export_dependencies(
PCL
yaml-cpp
)

target_link_libraries(nebula_common yaml-cpp)
ament_package()

ament_auto_package()

# Set ROS_DISTRO macros
set(ROS_DISTRO $ENV{ROS_DISTRO})
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1 change: 0 additions & 1 deletion nebula_common/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,6 @@
<buildtool_depend>ros_environment</buildtool_depend>

<depend>libpcl-all-dev</depend>
<depend>pcl_conversions</depend>
<depend>yaml-cpp</depend>

<test_depend>ament_cmake_gtest</test_depend>
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159 changes: 124 additions & 35 deletions nebula_decoders/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,10 +1,6 @@
cmake_minimum_required(VERSION 3.14)
project(nebula_decoders)

find_package(ament_cmake_auto REQUIRED)

ament_auto_find_build_dependencies()

# Default to C++17
if (NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
Expand All @@ -14,58 +10,151 @@ if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic -Wunused-function)
endif ()


find_package(ament_cmake_auto REQUIRED)
find_package(PCL REQUIRED COMPONENTS common)
find_package(angles REQUIRED)
find_package(PCL REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(continental_msgs REQUIRED)
find_package(diagnostic_msgs REQUIRED)
find_package(nebula_common REQUIRED)
find_package(nebula_msgs REQUIRED)
find_package(pandar_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(rclcpp REQUIRED)
find_package(robosense_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(velodyne_msgs REQUIRED)
find_package(yaml-cpp REQUIRED)

include_directories(
include
SYSTEM
${YAML_CPP_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${PCL_COMMON_INCLUDE_DIRS}
include_directories(PUBLIC
include
SYSTEM
${nebula_common_INCLUDE_DIRS}
${YAML_CPP_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${pcl_conversions_INCLUDE_DIRS}
${rclcpp_INCLUDE_DIRS}
${sensor_msgs_INCLUDE_DIRS}
)

link_libraries(
${nebula_common_TARGETS}
${PCL_LIBRARIES}
${pcl_conversions_LIBRARIES}
${rclcpp_TARGETS}
${sensor_msgs_TARGETS}
)

# Lidar Decoders
# Hesai
ament_auto_add_library(nebula_decoders_hesai SHARED
src/nebula_decoders_hesai/hesai_driver.cpp
)
add_library(nebula_decoders_hesai SHARED
src/nebula_decoders_hesai/hesai_driver.cpp
)
target_link_libraries(nebula_decoders_hesai PUBLIC
${pandar_msgs_TARGETS}
)

target_include_directories(nebula_decoders_hesai PUBLIC
${pandar_msgs_INCLUDE_DIRS}
)

# Velodyne
ament_auto_add_library(nebula_decoders_velodyne SHARED
src/nebula_decoders_velodyne/velodyne_driver.cpp
src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
)
add_library(nebula_decoders_velodyne SHARED
src/nebula_decoders_velodyne/velodyne_driver.cpp
src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
)
target_link_libraries(nebula_decoders_velodyne PUBLIC
${angles_msgs_TARGETS}
${velodyne_msgs_TARGETS}
)
target_include_directories(nebula_decoders_velodyne PUBLIC
${angles_INCLUDE_DIRS}
${velodyne_msgs_INCLUDE_DIRS}
)

# Robosense
ament_auto_add_library(nebula_decoders_robosense SHARED
src/nebula_decoders_robosense/robosense_driver.cpp
)
add_library(nebula_decoders_robosense SHARED
src/nebula_decoders_robosense/robosense_driver.cpp
)
target_link_libraries(nebula_decoders_robosense PUBLIC
${robosense_msgs_TARGETS}
)
target_include_directories(nebula_decoders_robosense PUBLIC
${robosense_msgs_INCLUDE_DIRS}
)

ament_auto_add_library(nebula_decoders_robosense_info SHARED
src/nebula_decoders_robosense/robosense_info_driver.cpp
)
add_library(nebula_decoders_robosense_info SHARED
src/nebula_decoders_robosense/robosense_info_driver.cpp
)
target_link_libraries(nebula_decoders_robosense_info PUBLIC
${robosense_msgs_TARGETS}
)
target_include_directories(nebula_decoders_robosense_info PUBLIC
${robosense_msgs_INCLUDE_DIRS}
)

# Continental
ament_auto_add_library(nebula_decoders_continental SHARED
src/nebula_decoders_continental/decoders/continental_ars548_decoder.cpp
)
add_library(nebula_decoders_continental SHARED
src/nebula_decoders_continental/decoders/continental_ars548_decoder.cpp
)
target_link_libraries(nebula_decoders_continental PUBLIC
${continental_msgs_TARGETS}
${diagnostic_msgs_TARGETS}
${boost_udp_driver_TARGETS}
${nebula_common_TARGETS}
${nebula_msgs_TARGETS}
)
target_include_directories(nebula_decoders_continental PUBLIC
${continental_msgs_INCLUDE_DIRS}
${diagnostic_msgs_INCLUDE_DIRS}
${boost_udp_driver_INCLUDE_DIRS}
${nebula_common_INCLUDE_DIRS}
${nebula_msgs_INCLUDE_DIRS}
)

install(TARGETS nebula_decoders_hesai EXPORT export_nebula_decoders_hesai)
install(TARGETS nebula_decoders_velodyne EXPORT export_nebula_decoders_velodyne)
install(TARGETS nebula_decoders_robosense EXPORT export_nebula_decoders_robosense)
install(TARGETS nebula_decoders_robosense_info EXPORT export_nebula_decoders_robosense_info)
install(TARGETS nebula_decoders_continental EXPORT export_nebula_decoders_continental)
install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()

ament_auto_package(
INSTALL_TO_SHARE
calibration
)
ament_export_include_directories("include/${PROJECT_NAME}")
ament_export_targets(export_nebula_decoders_hesai)
ament_export_targets(export_nebula_decoders_velodyne)
ament_export_targets(export_nebula_decoders_robosense)
ament_export_targets(export_nebula_decoders_robosense_info)
ament_export_targets(export_nebula_decoders_continental)

install(
DIRECTORY calibration
DESTINATION share/${PROJECT_NAME}
)

ament_export_dependencies(
PCL
pcl_conversions
angles
continental_msgs
diagnostic_msgs
nebula_common
nebula_msgs
pandar_msgs
rclcpp
robosense_msgs
sensor_msgs
velodyne_msgs
yaml-cpp
)

ament_package()

# Set ROS_DISTRO macros
set(ROS_DISTRO $ENV{ROS_DISTRO})
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6 changes: 3 additions & 3 deletions nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/robosense_info_driver.hpp
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Expand Up @@ -12,14 +12,14 @@
#include "nebula_decoders/nebula_decoders_robosense/decoders/robosense_info_decoder.hpp"
#include "nebula_decoders/nebula_decoders_robosense/decoders/robosense_info_decoder_base.hpp"

#include "pandar_msgs/msg/pandar_packet.hpp"
#include "pandar_msgs/msg/pandar_scan.hpp"

#include <pcl_conversions/pcl_conversions.h>

#include <iostream>
#include <map>
#include <memory>
#include <stdexcept>
#include <string>
#include <vector>

namespace nebula
{
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2 changes: 1 addition & 1 deletion nebula_decoders/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@
<depend>nebula_msgs</depend>
<depend>pandar_msgs</depend>
<depend>pcl_conversions</depend>
<depend>radar_msgs</depend>
<depend>rclcpp</depend>
<depend>robosense_msgs</depend>
<depend>sensor_msgs</depend>
<depend>velodyne_msgs</depend>
Expand Down
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