Commit 516ac387 authored by Mederic Fourmy's avatar Mederic Fourmy
Browse files

Use more modern cmake features for wolfcore and wolflaser, falko and csm still...

Use more modern cmake features for wolfcore and wolflaser, falko and csm still have to be manually referenced, which is bad
parent 77975d2a
cmake_minimum_required(VERSION 2.8.3)
CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
project(wolf_ros_laser)
## Compile as C++14
add_compile_options(-std=c++14)
# SET(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/wolf_ros_wrapper/cmake_modules")
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
sensor_msgs
......@@ -27,95 +23,8 @@ find_package(wolfcore REQUIRED)
find_package(wolflaser REQUIRED)
find_package(falkolib QUIET)
## 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 exec_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 exec_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 messages in the 'msg' folder
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
## Generate services in the 'srv' folder
# add_service_files(
# FILES
# Service1.srv
# Service2.srv
# )
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
#generate_messages(
# DEPENDENCIES
# iri_gnss_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 exec_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/WolfROS.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
# produces the XXXConfig.cmake file among other things
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES wolf_ros1
# CATKIN_DEPENDS roscpp sensor_msgs std_msgs
# DEPENDS system_lib
)
###########
......@@ -125,111 +34,40 @@ catkin_package(
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${EIGEN_INCLUDE_DIRS}
${wolfcore_INCLUDE_DIRS}
include
${wolflaser_INCLUDE_DIRS}
${laser_scan_utils_INCLUDE_DIRS}
# ${laser_scan_utils_INCLUDE_DIRS}
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
)
# link_directories(/usr/local/lib/iri-algorithms)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/wolf_ros.cpp
# )
add_library(publisher_${PROJECT_NAME})
add_library(subscriber_${PROJECT_NAME})
target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_laser_map.cpp)
target_sources(subscriber_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/subscriber_laser2d.cpp)
if (falkolib_FOUND)
message("Found Falkolib. Compiling publisher_falko.")
target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_falko.cpp)
endif()
find_file(ICP wolflaser_INCLUDE_DIRS laser/processor/processor_odom_icp.h)
if (NOT ICP_NOTFOUND)
message("Found 'processor_odom_icp.h'. Compiling publisher_odom_icp.")
target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_odom_icp.cpp)
endif ()
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)
# add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
add_library(publisher_${PROJECT_NAME}
${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_laser_map.cpp
)
add_library(subscriber_${PROJECT_NAME}
${CMAKE_CURRENT_SOURCE_DIR}/src/subscriber_laser2d.cpp
)
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_laser_map.cpp)
# target_sources(subscriber_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/subscriber_laser2d.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg"
# set_target_properties(${PROJECT_NAME} PROPERTIES OUTPUT_NAME node PREFIX "")
# if (falkolib_FOUND)
# message("Found Falkolib. Compiling publisher_falko.")
# target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_falko.cpp)
# endif()
## Add cmake target dependencies of the executable
## same as for the library above
#add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_gencfg)
#add_dependencies(${PROJECT_NAME}_visualizer ${PROJECT_NAME}_gencfg)
# find_file(ICP wolflaser_INCLUDE_DIRS laser/processor/processor_odom_icp.h)
# if (NOT ICP_NOTFOUND)
# message("Found 'processor_odom_icp.h'. Compiling publisher_odom_icp.")
# target_sources(publisher_${PROJECT_NAME} PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/publisher_odom_icp.cpp)
# endif ()
## Specify libraries to link a library or executable target against
target_link_libraries(subscriber_${PROJECT_NAME}
${wolfcore_LIBRARIES}
${wolflaser_LIBRARIES}
wolfcore
wolflaser
)
target_link_libraries(publisher_${PROJECT_NAME}
${wolfcore_LIBRARIES}
${wolflaser_LIBRARIES}
wolfcore
wolflaser
${catkin_LIBRARIES}
)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}
# 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
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_wolf_ros.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
)
\ No newline at end of file
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