139 lines
6.3 KiB
CMake
139 lines
6.3 KiB
CMake
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cmake_minimum_required(VERSION 2.8.3)
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project(sdf_tools)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS rospy std_msgs sensor_msgs visualization_msgs image_transport cv_bridge arc_utilities message_generation)
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find_package(cmake_modules REQUIRED)
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find_package(Eigen3 REQUIRED)
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set(Eigen3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})
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find_package(OpenCV REQUIRED)
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# MoveIt! isn't a required dependency
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find_package(moveit_msgs)
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find_package(moveit_core)
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find_package(moveit_ros_planning)
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find_package(PCL 1.10 REQUIRED)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/groovy/api/catkin/html/user_guide/setup_dot_py.html
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#catkin_python_setup()
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#######################################
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## Declare ROS messages and services ##
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#######################################
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## Generate messages in the 'msg' folder
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add_message_files(DIRECTORY msg FILES SDF.msg CollisionMap.msg TaggedObjectCollisionMap.msg)
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## Generate services in the 'srv' folder
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add_service_files(DIRECTORY srv FILES ComputeSDF.srv)
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## Generate added messages and services with any dependencies listed here
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generate_messages(DEPENDENCIES geometry_msgs std_msgs)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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if(moveit_core_FOUND)
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catkin_package(INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS rospy std_msgs sensor_msgs moveit_core moveit_ros_planning visualization_msgs moveit_msgs image_transport cv_bridge arc_utilities message_runtime DEPENDS Eigen3 OpenCV)
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else()
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catkin_package(INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS rospy std_msgs sensor_msgs visualization_msgs image_transport cv_bridge arc_utilities message_runtime DEPENDS Eigen3 OpenCV)
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endif()
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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if(moveit_core_FOUND)
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include_directories(include SYSTEM ${catkin_INCLUDE_DIRS} ${Eigen3_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS} ${moveit_core_INCLUDE_DIRS} ${moveit_msgs_INCLUDE_DIRS} ${moveit_ros_planning_INCLUDE_DIRS})
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else()
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include_directories(include SYSTEM ${catkin_INCLUDE_DIRS} ${Eigen3_INCLUDE_DIRS} ${OpenCV_INCLUDE_DIRS})
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endif()
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include_directories(${PCL_INCLUDE_DIRS})
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link_directories(${PCL_LIBRARY_DIRS})
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set(CMAKE_CXX_FLAGS "-std=c++14 ${CMAKE_CXX_FLAGS} -flto -O3 -Wall -Wextra -Werror")
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set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
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if(moveit_core_FOUND)
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message(STATUS "MoveIt! found. Building SDF Tools library with MoveIt! integration.")
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# SDF library
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add_library(${PROJECT_NAME}
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include/${PROJECT_NAME}/collision_map.hpp
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include/${PROJECT_NAME}/tagged_object_collision_map.hpp
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include/${PROJECT_NAME}/dynamic_spatial_hashed_collision_map.hpp
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include/${PROJECT_NAME}/sdf.hpp
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include/${PROJECT_NAME}/sdf_builder.hpp
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src/${PROJECT_NAME}/collision_map.cpp
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src/${PROJECT_NAME}/tagged_object_collision_map.cpp
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src/${PROJECT_NAME}/dynamic_spatial_hashed_collision_map.cpp
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src/${PROJECT_NAME}/sdf.cpp
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src/${PROJECT_NAME}/sdf_builder.cpp)
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add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencpp)
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target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${moveit_core_LIBRARIES} ${moveit_msgs_LIBRARIES} ${moveit_ros_planning_LIBRARIES})
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# SDF generation node
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add_executable(sdf_generation_node src/sdf_generation_node.cpp)
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add_dependencies(sdf_generation_node ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencpp)
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target_link_libraries(sdf_generation_node ${catkin_LIBRARIES} ${PROJECT_NAME} ${moveit_core_LIBRARIES} ${moveit_msgs_LIBRARIES} ${moveit_ros_planning_LIBRARIES})
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else()
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message(STATUS "MoveIt! not found. Building SDF Tools library without MoveIt! integration.")
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# SDF library
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add_library(${PROJECT_NAME}
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include/${PROJECT_NAME}/collision_map.hpp
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include/${PROJECT_NAME}/tagged_object_collision_map.hpp
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include/${PROJECT_NAME}/dynamic_spatial_hashed_collision_map.hpp
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include/${PROJECT_NAME}/sdf.hpp
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src/${PROJECT_NAME}/collision_map.cpp
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src/${PROJECT_NAME}/tagged_object_collision_map.cpp
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src/${PROJECT_NAME}/dynamic_spatial_hashed_collision_map.cpp
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src/${PROJECT_NAME}/sdf.cpp)
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add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencpp)
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target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
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endif()
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# Simple test node for voxel_grid
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# add_executable(voxel_grid_test src/test_voxel_grid.cpp)
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# add_dependencies(voxel_grid_test ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencpp)
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# target_link_libraries(voxel_grid_test ${catkin_LIBRARIES} ${PROJECT_NAME})
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# Image to SDF node
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# add_executable(image_2d_sdf_node src/image_2d_sdf_node.cpp)
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# add_dependencies(image_2d_sdf_node ${catkin_EXPORTED_TARGETS})
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# target_link_libraries(image_2d_sdf_node ${catkin_LIBRARIES} ${OpenCV_LIBRARIES})
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# Tutorial on how to use the components of the sdf_tools library
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# add_executable(sdf_tools_tutorial src/sdf_tools_tutorial.cpp)
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# add_dependencies(sdf_tools_tutorial ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_gencpp)
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# target_link_libraries(sdf_tools_tutorial ${catkin_LIBRARIES} ${PROJECT_NAME})
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#############
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## Install ##
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#############
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## Mark library for installation
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install(TARGETS ${PROJECT_NAME}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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ARCHIVE DESTINATION ${PROJECT_SOURCE_DIR}/lib
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RUNTIME DESTINATION ${PROJECT_SOURCE_DIR}/lib
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LIBRARY DESTINATION ${PROJECT_SOURCE_DIR}/lib
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)
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${PROJECT_SOURCE_DIR}/include/sdf_tools
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PATTERN ".svn" EXCLUDE
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)
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