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Commit 31a38fff authored by Mederic Fourmy's avatar Mederic Fourmy
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laser compiles against laser_scan_utils and can be installed in non root dir

parent 4ca17ee3
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2 merge requests!37After cmake and const refactor,!36Resolve "Adapt to core CMakeLists.txt refactor"
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CMakeLists.txt
+ 44
− 23
View file @ 31a38fff
# Pre-requisites about cmake itself
CMAKE_MINIMUM_REQUIRED(VERSION 2.8)
CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
if(COMMAND cmake_policy)
cmake_policy(SET CMP0005 NEW)
cmake_policy(SET CMP0003 NEW)
endif(COMMAND cmake_policy)
# MAC OSX RPATH
SET(CMAKE_MACOSX_RPATH 1)
......@@ -14,9 +10,11 @@ set(PLUGIN_NAME wolf${PROJECT_NAME})
MESSAGE("Starting ${PROJECT_NAME} CMakeLists ...")
# Paths
SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
SET(CMAKE_INSTALL_PREFIX /usr/local)
set(INCLUDE_INSTALL_DIR include/iri-algorithms/wolf)
set(LIB_INSTALL_DIR lib/)
IF (NOT CMAKE_BUILD_TYPE)
SET(CMAKE_BUILD_TYPE "DEBUG")
......@@ -69,10 +67,6 @@ if(BUILD_TESTS)
enable_testing()
endif()
#CMAKE modules
SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake_modules")
MESSAGE(STATUS ${CMAKE_MODULE_PATH})
# Some wolf compilation options
IF((CMAKE_BUILD_TYPE MATCHES DEBUG) OR (CMAKE_BUILD_TYPE MATCHES debug) OR (CMAKE_BUILD_TYPE MATCHES Debug))
set(_WOLF_DEBUG true)
......@@ -83,12 +77,17 @@ option(_WOLF_TRACE "Enable wolf tracing macro" ON)
# ============ DEPENDENCIES ============
FIND_PACKAGE(wolfcore REQUIRED)
FIND_PACKAGE(laser_scan_utils REQUIRED)
FIND_PACKAGE(csm QUIET)
# found only to set the XXX_FOUND variables
# -> It would be better to look for them in the the laser_scan_utils target
FIND_PACKAGE(falkolib QUIET)
find_package(PkgConfig)
pkg_check_modules(csm QUIET csm)
link_directories(${csm_LIBRARY_DIRS})
# ============ CONFIG.H ============
string(TOUPPER ${PROJECT_NAME} UPPER_NAME)
set(_WOLF_ROOT_DIR ${CMAKE_SOURCE_DIR})
# variable used to compile the config.h.in file
string(TOUPPER ${PROJECT_NAME} PROJECT_NAME_UPPER)
# Define the directory where will be the configured config.h
SET(WOLF_CONFIG_DIR ${PROJECT_BINARY_DIR}/conf/${PROJECT_NAME}/internal)
......@@ -108,8 +107,8 @@ message("CONFIG DIRECTORY ${PROJECT_BINARY_DIR}")
include_directories("${PROJECT_BINARY_DIR}/conf")
# ============ INCLUDES ============
INCLUDE_DIRECTORIES(${wolfcore_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(${laser_scan_utils_INCLUDE_DIRS})
INCLUDE_DIRECTORIES(BEFORE "${falkolib_INCLUDE_DIRS}")
INCLUDE_DIRECTORIES(BEFORE "${csm_INCLUDE_DIRS}")
INCLUDE_DIRECTORIES(BEFORE "include")
# ============ HEADERS ============
......@@ -244,10 +243,10 @@ ENDIF()
#Link the created libraries
#===============EXAMPLE=========================
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolfcore_LIBRARIES})
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${laser_scan_utils_LIBRARY})
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} wolfcore)
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} laser_scan_utils)
IF (falkolib_FOUND)
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${wolfcore_LIBRARIES} ${laser_scan_utils_LIBRARY} ${falkolib_LIBRARY})
TARGET_LINK_LIBRARIES(${PLUGIN_NAME} ${falkolib_LIBRARY})
ENDIF(falkolib_FOUND)
#Build tests
......@@ -257,14 +256,38 @@ IF(BUILD_TESTS)
add_subdirectory(test)
ENDIF(BUILD_TESTS)
#install library
#=============================================================
INSTALL(TARGETS ${PLUGIN_NAME} EXPORT ${PLUGIN_NAME}Targets
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib)
RUNTIME DESTINATION bin
LIBRARY DESTINATION ${LIB_INSTALL_DIR}
ARCHIVE DESTINATION ${LIB_INSTALL_DIR}
)
install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/${PLUGIN_NAME}/cmake)
# Configure the package installation
include(CMakePackageConfigHelpers)
configure_package_config_file(
${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake.in
${CMAKE_CURRENT_BINARY_DIR}/${PLUGIN_NAME}Config.cmake
INSTALL_DESTINATION ${LIB_INSTALL_DIR}/${PLUGIN_NAME}/cmake
PATH_VARS INCLUDE_INSTALL_DIR LIB_INSTALL_DIR
)
install(
FILES
${CMAKE_CURRENT_BINARY_DIR}/${PLUGIN_NAME}Config.cmake
DESTINATION
${LIB_INSTALL_DIR}/${PLUGIN_NAME}/cmake
)
# Specifies include directories to use when compiling the plugin target
# This way, include_directories does not need to be called in plugins depending on this one
target_include_directories(${PLUGIN_NAME} INTERFACE
$<INSTALL_INTERFACE:${INCLUDE_INSTALL_DIR}>
)
install(EXPORT ${PLUGIN_NAME}Targets DESTINATION lib/cmake/${PLUGIN_NAME})
#install headers
INSTALL(FILES ${HDRS_CAPTURE}
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/capture)
......@@ -289,8 +312,6 @@ INSTALL(FILES laser.found
INSTALL(FILES "${WOLF_CONFIG_DIR}/config.h"
DESTINATION include/iri-algorithms/wolf/plugin_${PROJECT_NAME}/${PROJECT_NAME}/internal)
INSTALL(FILES "${CMAKE_SOURCE_DIR}/cmake_modules/${PLUGIN_NAME}Config.cmake" DESTINATION "lib/cmake/${PLUGIN_NAME}")
INSTALL(DIRECTORY ${SPDLOG_INCLUDE_DIRS} DESTINATION "include/iri-algorithms/")
export(PACKAGE ${PLUGIN_NAME})
......
cmake_modules/Findcsm.cmake deleted 100755 → 0
+ 0
− 64
View file @ 4ca17ee3
FIND_PATH(
csm_INCLUDE_DIR
NAMES algos.h
PATHS /usr/local/include/csm)
IF(csm_INCLUDE_DIR)
MESSAGE("Found csm include dirs: ${csm_INCLUDE_DIR}")
ELSE(csm_INCLUDE_DIR)
MESSAGE("Couldn't find csm include dirs")
ENDIF(csm_INCLUDE_DIR)
FIND_LIBRARY(
csm_LIBRARY
NAMES libcsm.so libcsm.dylib
PATHS /usr/local/lib)
IF(csm_LIBRARY)
MESSAGE("Found csm lib: ${csm_LIBRARY}")
ELSE(csm_LIBRARY)
MESSAGE("Couldn't find csm lib")
ENDIF(csm_LIBRARY)
IF (csm_INCLUDE_DIR AND csm_LIBRARY)
SET(csm_FOUND TRUE)
ELSE(csm_INCLUDE_DIR AND csm_LIBRARY)
set(csm_FOUND FALSE)
ENDIF (csm_INCLUDE_DIR AND csm_LIBRARY)
IF (csm_FOUND)
IF (NOT csm_FIND_QUIETLY)
MESSAGE(STATUS "Found csm: ${csm_LIBRARY}")
ENDIF (NOT csm_FIND_QUIETLY)
ELSE (csm_FOUND)
IF (csm_FIND_REQUIRED)
MESSAGE(FATAL_ERROR "Could not find csm")
ENDIF (csm_FIND_REQUIRED)
ENDIF (csm_FOUND)
macro(csm_report_not_found REASON_MSG)
set(csm_FOUND FALSE)
unset(csm_INCLUDE_DIR)
unset(csm_LIBRARIES)
# Reset the CMake module path to its state when this script was called.
set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
# Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by
# FindPackage() use the camelcase library name, not uppercase.
if (csm_FIND_QUIETLY)
message(STATUS "Failed to find csm- " ${REASON_MSG} ${ARGN})
elseif (csm_FIND_REQUIRED)
message(FATAL_ERROR "Failed to find csm - " ${REASON_MSG} ${ARGN})
else()
# Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
# that prevents generation, but continues configuration.
message(SEND_ERROR "Failed to find csm - " ${REASON_MSG} ${ARGN})
endif ()
return()
endmacro(csm_report_not_found)
if(NOT csm_FOUND)
csm_report_not_found("Something went wrong while setting up csm.")
endif(NOT csm_FOUND)
# Set the include directories for csm (itself).
set(csm_FOUND TRUE)
\ No newline at end of file
cmake_modules/wolflaserConfig.cmake deleted 100644 → 0
+ 0
− 91
View file @ 4ca17ee3
#edit the following line to add the librarie's header files
FIND_PATH(
wolflaser_INCLUDE_DIRS
NAMES laser.found
PATHS /usr/local/include/iri-algorithms/wolf/plugin_laser)
IF(wolflaser_INCLUDE_DIRS)
MESSAGE("Found laser include dirs: ${wolflaser_INCLUDE_DIRS}")
ELSE(wolflaser_INCLUDE_DIRS)
MESSAGE("Couldn't find laser include dirs")
ENDIF(wolflaser_INCLUDE_DIRS)
FIND_LIBRARY(
wolflaser_LIBRARIES
NAMES libwolflaser.so
PATHS /usr/local/lib)
IF(wolflaser_LIBRARIES)
MESSAGE("Found laser lib: ${wolflaser_LIBRARIES}")
ELSE(wolflaser_LIBRARIES)
MESSAGE("Couldn't find wolf laser lib")
ENDIF(wolflaser_LIBRARIES)
IF (wolflaser_INCLUDE_DIRS AND wolflaser_LIBRARIES)
SET(wolflaser_FOUND TRUE)
ELSE(wolflaser_INCLUDE_DIRS AND wolflaser_LIBRARIES)
set(wolflaser_FOUND FALSE)
ENDIF (wolflaser_INCLUDE_DIRS AND wolflaser_LIBRARIES)
IF (wolflaser_FOUND)
IF (NOT wolflaser_FIND_QUIETLY)
MESSAGE(STATUS "Found laser: ${wolflaser_LIBRARIES}")
ENDIF (NOT wolflaser_FIND_QUIETLY)
ELSE (wolflaser_FOUND)
IF (wolflaser_FIND_REQUIRED)
MESSAGE(FATAL_ERROR "Could not find wolf laser")
ENDIF (wolflaser_FIND_REQUIRED)
ENDIF (wolflaser_FOUND)
macro(wolf_report_not_found REASON_MSG)
set(wolflaser_FOUND FALSE)
unset(wolflaser_INCLUDE_DIRS)
unset(wolflaser_LIBRARIES)
# Reset the CMake module path to its state when this script was called.
set(CMAKE_MODULE_PATH ${CALLERS_CMAKE_MODULE_PATH})
# Note <package>_FIND_[REQUIRED/QUIETLY] variables defined by
# FindPackage() use the camelcase library name, not uppercase.
if (wolflaser_FIND_QUIETLY)
message(STATUS "Failed to find wolf laser- " ${REASON_MSG} ${ARGN})
elseif(wolflaser_FIND_REQUIRED)
message(FATAL_ERROR "Failed to find wolf laser - " ${REASON_MSG} ${ARGN})
else()
# Neither QUIETLY nor REQUIRED, use SEND_ERROR which emits an error
# that prevents generation, but continues configuration.
message(SEND_ERROR "Failed to find wolf laser - " ${REASON_MSG} ${ARGN})
endif ()
return()
endmacro(wolf_report_not_found)
if(NOT wolflaser_FOUND)
wolf_report_not_found("Something went wrong while setting up wolf vision.")
endif(NOT wolflaser_FOUND)
# Set the include directories for wolf (itself).
set(wolflaser_FOUND TRUE)
# Now we gather all the required dependencies for Wolf Laser
FIND_PACKAGE(laser_scan_utils REQUIRED)
list(APPEND wolflaser_INCLUDE_DIRS ${laser_scan_utils_INCLUDE_DIRS})
list(APPEND wolflaser_LIBRARIES ${laser_scan_utils_LIBRARY})
#Making sure Wolf is looked for
if(NOT wolf_FOUND)
FIND_PACKAGE(wolfcore REQUIRED)
#We reverse in order to insert at the start
list(REVERSE wolflaser_INCLUDE_DIRS)
list(APPEND wolflaser_INCLUDE_DIRS ${wolfcore_INCLUDE_DIRS})
list(REVERSE wolflaser_INCLUDE_DIRS)
list(REVERSE wolflaser_LIBRARIES)
list(APPEND wolflaser_LIBRARIES ${wolfcore_LIBRARIES})
list(REVERSE wolflaser_LIBRARIES)
endif()
# provide both INCLUDE_DIR and INCLUDE_DIRS
SET(wolflaser_INCLUDE_DIR ${wolflaser_INCLUDE_DIRS})
# provide both LIBRARY and LIBRARIES
SET(wolflaser_LIBRARY ${wolflaser_LIBRARIES})
\ No newline at end of file
cmake_modules/wolflaserConfig.cmake.in 0 → 100644
+ 13
− 0
View file @ 31a38fff
set(@PLUGIN_NAME@_VERSION 0.0.1)
@PACKAGE_INIT@
include(CMakeFindDependencyMacro)
FIND_DEPENDENCY(wolfcore REQUIRED)
FIND_DEPENDENCY(laser_scan_utils REQUIRED)
FIND_DEPENDENCY(Eigen3 3.3 REQUIRED)
include("${CMAKE_CURRENT_LIST_DIR}/@PLUGIN_NAME@Targets.cmake")
check_required_components(@PLUGIN_NAME@)
\ No newline at end of file
internal/config.h.in
+ 3
− 3
View file @ 31a38fff
......@@ -24,13 +24,13 @@
// which will be added to the include path for compilation,
// and installed with the public wolf headers.
#ifndef WOLF_INTERNAL_${UPPER_NAME}_CONFIG_H_
#define WOLF_INTERNAL_${UPPER_NAME}_CONFIG_H_
#ifndef WOLF_INTERNAL_${PROJECT_NAME_UPPER}_CONFIG_H_
#define WOLF_INTERNAL_${PROJECT_NAME_UPPER}_CONFIG_H_
#cmakedefine _WOLF_DEBUG
#cmakedefine _WOLF_TRACE
#define _WOLF_${UPPER_NAME}_ROOT_DIR "${_WOLF_ROOT_DIR}"
#define _WOLF_${PROJECT_NAME_UPPER}_ROOT_DIR "${_WOLF_ROOT_DIR}"
#endif /* WOLF_INTERNAL_CONFIG_H_ */
test/CMakeLists.txt
+ 0
− 10
View file @ 31a38fff
# Retrieve googletest from github & compile
add_subdirectory(gtest)
# Include gtest directory.
include_directories(${GTEST_INCLUDE_DIRS})
############# USE THIS TEST AS AN EXAMPLE #################
# #
# Create a specific test executable for gtest_example #
wolf_add_gtest(gtest_example gtest_example.cpp) #
target_link_libraries(gtest_example ${PLUGIN_NAME}) #
# #
###########################################################
wolf_add_gtest(gtest_landmark_polyline gtest_landmark_polyline.cpp)
target_link_libraries(gtest_landmark_polyline ${PLUGIN_NAME})
if(csm_FOUND)
wolf_add_gtest(gtest_processor_odom_icp gtest_processor_odom_icp.cpp)
target_link_libraries(gtest_processor_odom_icp ${PLUGIN_NAME} ${wolf_LIBRARY})
wolf_add_gtest(gtest_processor_loop_closure_icp gtest_processor_loop_closure_icp.cpp)
target_link_libraries(gtest_processor_loop_closure_icp ${PLUGIN_NAME} ${wolf_LIBRARY})
endif(csm_FOUND)
wolf_add_gtest(gtest_polyline_2d gtest_polyline_2d.cpp)
target_link_libraries(gtest_polyline_2d ${PLUGIN_NAME})
if(falkolib_FOUND)
wolf_add_gtest(gtest_processor_loop_closure_falko gtest_processor_loop_closure_falko.cpp)
target_link_libraries(gtest_processor_loop_closure_falko ${PLUGIN_NAME} ${wolf_LIBRARY})
if(csm_FOUND)
wolf_add_gtest(gtest_processor_loop_closure_falko_icp gtest_processor_loop_closure_falko_icp.cpp)
target_link_libraries(gtest_processor_loop_closure_falko_icp ${PLUGIN_NAME} ${wolf_LIBRARY})
endif(csm_FOUND)
endif(falkolib_FOUND)
test/gtest/CMakeLists.txt
+ 65
− 50
View file @ 31a38fff
cmake_minimum_required(VERSION 2.8.8)
project(gtest_builder C CXX)
if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
message("CMake version less than 3.11.0")
# We need thread support
#find_package(Threads REQUIRED)
# Enable ExternalProject CMake module
include(ExternalProject)
# Enable ExternalProject CMake module
include(ExternalProject)
set(GTEST_FORCE_SHARED_CRT ON)
set(GTEST_DISABLE_PTHREADS OFF)
set(GTEST_FORCE_SHARED_CRT ON)
set(GTEST_DISABLE_PTHREADS OFF)
# For some reason I need to disable PTHREADS
# with g++ (Ubuntu 4.9.3-8ubuntu2~14.04) 4.9.3
# This is a known issue for MinGW :
# https://github.com/google/shaderc/pull/174
#if(MINGW)
# set(GTEST_DISABLE_PTHREADS ON)
#endif()
# For some reason I need to disable PTHREADS
# with g++ (Ubuntu 4.9.3-8ubuntu2~14.04) 4.9.3
# This is a known issue for MinGW :
# https://github.com/google/shaderc/pull/174
#if(MINGW)
set(GTEST_DISABLE_PTHREADS ON)
#endif()
# Download GoogleTest
ExternalProject_Add(googletest
GIT_REPOSITORY https://github.com/google/googletest.git
GIT_TAG v1.8.x
# TIMEOUT 1 # We'll try this
CMAKE_ARGS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG:PATH=DebugLibs
-DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE:PATH=ReleaseLibs
-DCMAKE_CXX_FLAGS=${MSVC_COMPILER_DEFS}
-Dgtest_force_shared_crt=${GTEST_FORCE_SHARED_CRT}
-Dgtest_disable_pthreads=${GTEST_DISABLE_PTHREADS}
-DBUILD_GTEST=ON
PREFIX "${CMAKE_CURRENT_BINARY_DIR}"
# Disable install step
INSTALL_COMMAND ""
UPDATE_DISCONNECTED 1 # 1: do not update googletest; 0: update googletest via github
)
# Download GoogleTest
ExternalProject_Add(googletest
GIT_REPOSITORY https://github.com/google/googletest.git
GIT_TAG v1.8.x
# TIMEOUT 1 # We'll try this
CMAKE_ARGS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG:PATH=DebugLibs
-DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE:PATH=ReleaseLibs
-DCMAKE_CXX_FLAGS=${MSVC_COMPILER_DEFS}
-Dgtest_force_shared_crt=${GTEST_FORCE_SHARED_CRT}
-Dgtest_disable_pthreads=${GTEST_DISABLE_PTHREADS}
-DBUILD_GTEST=ON
PREFIX "${CMAKE_CURRENT_BINARY_DIR}"
# Disable install step
INSTALL_COMMAND ""
UPDATE_DISCONNECTED 1 # 1: do not update googletest; 0: update googletest via github
)
# Get GTest source and binary directories from CMake project
# Get GTest source and binary directories from CMake project
# Specify include dir
ExternalProject_Get_Property(googletest source_dir)
set(GTEST_INCLUDE_DIRS ${source_dir}/googletest/include PARENT_SCOPE)
# Specify include dir
ExternalProject_Get_Property(googletest source_dir)
set(GTEST_INCLUDE_DIRS ${source_dir}/googletest/include PARENT_SCOPE)
# Specify MainTest's link libraries
ExternalProject_Get_Property(googletest binary_dir)
set(GTEST_LIBS_DIR ${binary_dir}/googlemock/gtest PARENT_SCOPE)
# Specify MainTest's link libraries
ExternalProject_Get_Property(googletest binary_dir)
set(GTEST_LIBS_DIR ${binary_dir}/googlemock/gtest PARENT_SCOPE)
# Create a libgtest target to be used as a dependency by test programs
add_library(libgtest IMPORTED STATIC GLOBAL)
add_dependencies(libgtest googletest)
# Create a libgtest target to be used as a dependency by test programs
add_library(libgtest IMPORTED STATIC GLOBAL)
add_dependencies(libgtest googletest)
# Set libgtest properties
set_target_properties(libgtest PROPERTIES
"IMPORTED_LOCATION" "${binary_dir}/googlemock/gtest/libgtest.a"
"IMPORTED_LINK_INTERFACE_LIBRARIES" "${CMAKE_THREAD_LIBS_INIT}"
)
# Set libgtest properties
set_target_properties(libgtest PROPERTIES
"IMPORTED_LOCATION" "${binary_dir}/googlemock/gtest/libgtest.a"
"IMPORTED_LINK_INTERFACE_LIBRARIES" "${CMAKE_THREAD_LIBS_INIT}"
)
else()
message("CMake version equal or greater than 3.11.0")
include(FetchContent)
FetchContent_Declare(
googletest
GIT_REPOSITORY https://github.com/google/googletest.git
GIT_TAG main)
FetchContent_MakeAvailable(googletest)
endif()
function(wolf_add_gtest target)
add_executable(${target} ${ARGN})
add_dependencies(${target} libgtest)
target_link_libraries(${target} libgtest)
#WORKING_DIRECTORY ${CMAKE_BINARY_DIR}/bin
if(${CMAKE_VERSION} VERSION_LESS "3.11.0")
add_dependencies(${target} libgtest)
target_link_libraries(${target} libgtest ${PLUGIN_NAME})
target_include_directories(${target} ${GTEST_INCLUDE_DIRS})
else()
target_link_libraries(${target} gtest_main ${PLUGIN_NAME})
endif()
add_test(NAME ${target} COMMAND ${target})
endfunction()
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