-
Notifications
You must be signed in to change notification settings - Fork 6
/
Copy pathCMakeLists.txt
82 lines (63 loc) · 1.64 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
cmake_minimum_required(VERSION 3.5)
project(roborts_slam)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_BUILD_TYPE Release)
find_package(catkin REQUIRED COMPONENTS
roscpp
message_filters
nav_msgs
rosconsole
roscpp
sensor_msgs
geometry_msgs
tf
visualization_msgs
)
set(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake_module)
find_package(Ceres REQUIRED)
include_directories(
${CMAKE_CURRENT_SOURCE_DIR}/src
${catkin_INCLUDE_DIRS}
${CERES_INCLUDE_DIRS}
)
find_package(SUITESPARSE REQUIRED)
find_package(Eigen3)
include_directories(
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIR}
)
find_package(Glog REQUIRED)
catkin_package(
)
add_executable(
roborts_slam_node
src/roborts_slam_node.cpp
src/laser_data_processor.cpp
src/laser_data_processor.h
src/slam/slam_processor.h
src/slam/sensor_data_manager.h
src/pose_graph/range_scan_pose_graph.h
src/pose_graph/pose_graph.h
src/pose_graph/range_scan_pose_graph.cpp
src/pose_graph/ceres_pose_graph_solver.cpp
src/util/boundbox.h
src/scan_match/scan_matchers.h
src/scan_match/optimize_scan_matcher.h
src/scan_match/correlate_scan_matcher.h src/slam/slam_processor.cpp
)
target_link_libraries(
roborts_slam_node
#${CMAKE_THREAD_LIBS_INIT}
${catkin_LIBRARIES}
${GLOG_LIBRARY}
${CERES_LIBRARIES}
)
add_executable(
util_test
src/test/util_test.cpp
)
target_link_libraries(
util_test
${catkin_LIBRARIES}
${GLOG_LIBRARY}
)