-
Notifications
You must be signed in to change notification settings - Fork 1.4k
/
Copy pathCMakeLists.txt
177 lines (153 loc) · 5.17 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
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
cmake_minimum_required(VERSION 3.5)
project(nav2_map_server)
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake_modules)
find_package(ament_cmake REQUIRED)
find_package(GRAPHICSMAGICKCPP REQUIRED)
find_package(lifecycle_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(nav2_common REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav2_util REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(yaml_cpp_vendor REQUIRED)
find_package(yaml-cpp REQUIRED)
nav2_package()
set(map_server_executable map_server)
set(library_name ${map_server_executable}_core)
set(map_io_library_name map_io)
set(map_saver_cli_executable map_saver_cli)
set(map_saver_server_executable map_saver_server)
set(costmap_filter_info_server_executable costmap_filter_info_server)
add_library(${map_io_library_name} SHARED
src/map_mode.cpp
src/map_io.cpp)
target_include_directories(${map_io_library_name}
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_include_directories(${map_io_library_name}
PRIVATE
${GRAPHICSMAGICKCPP_INCLUDE_DIRS})
target_link_libraries(${map_io_library_name} PUBLIC
nav2_util::nav2_util_core
${nav_msgs_TARGETS}
)
target_link_libraries(${map_io_library_name} PRIVATE
${GRAPHICSMAGICKCPP_LIBRARIES}
tf2::tf2
yaml-cpp::yaml-cpp
)
add_library(${library_name} SHARED
src/map_server/map_server.cpp
src/map_saver/map_saver.cpp
src/costmap_filter_info/costmap_filter_info_server.cpp)
target_include_directories(${library_name}
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(${library_name} PUBLIC
${map_io_library_name}
${nav_msgs_TARGETS}
${nav2_msgs_TARGETS}
nav2_util::nav2_util_core
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
)
target_link_libraries(${library_name} PRIVATE
${lifecycle_msgs_TARGETS}
rclcpp_components::component
yaml-cpp::yaml-cpp
)
add_executable(${map_server_executable}
src/map_server/main.cpp)
target_include_directories(${map_server_executable}
PRIVATE
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(${map_server_executable} PRIVATE
${library_name}
${map_io_library_name}
rclcpp::rclcpp
)
add_executable(${map_saver_cli_executable}
src/map_saver/main_cli.cpp)
target_include_directories(${map_saver_cli_executable}
PRIVATE
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(${map_saver_cli_executable} PRIVATE
${library_name}
${map_io_library_name}
${nav_msgs_TARGETS}
${nav2_msgs_TARGETS}
nav2_util::nav2_util_core
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
)
add_executable(${map_saver_server_executable}
src/map_saver/main_server.cpp)
target_include_directories(${map_saver_server_executable}
PRIVATE
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(${map_saver_server_executable} PRIVATE
${library_name}
${map_io_library_name}
${nav_msgs_TARGETS}
${nav2_msgs_TARGETS}
nav2_util::nav2_util_core
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
)
add_executable(${costmap_filter_info_server_executable}
src/costmap_filter_info/main.cpp)
target_include_directories(${costmap_filter_info_server_executable}
PRIVATE
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(${costmap_filter_info_server_executable} PRIVATE
${library_name}
${map_io_library_name}
${nav_msgs_TARGETS}
${nav2_msgs_TARGETS}
nav2_util::nav2_util_core
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
)
rclcpp_components_register_nodes(${library_name} "nav2_map_server::CostmapFilterInfoServer")
rclcpp_components_register_nodes(${library_name} "nav2_map_server::MapSaver")
rclcpp_components_register_nodes(${library_name} "nav2_map_server::MapServer")
install(TARGETS
${library_name} ${map_io_library_name}
EXPORT ${library_name}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
install(TARGETS
${map_server_executable} ${map_saver_cli_executable} ${map_saver_server_executable}
${costmap_filter_info_server_executable}
RUNTIME DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY include/
DESTINATION include/${PROJECT_NAME})
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
set(ament_cmake_copyright_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
find_package(ament_cmake_gtest REQUIRED)
ament_find_gtest()
add_subdirectory(test)
endif()
ament_export_include_directories("include/${PROJECT_NAME}")
ament_export_libraries(
${library_name}
${map_io_library_name}
)
ament_export_dependencies(nav_msgs nav2_msgs nav2_util rclcpp rclcpp_lifecycle)
ament_export_targets(${library_name})
ament_package()