58 lines
1.7 KiB
CMake
58 lines
1.7 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(simple_slam)
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set(CMAKE_CXX_STANDARD 23)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(tf2_sensor_msgs REQUIRED)
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find_package(std_msgs REQUIRED)# uncomment the following section in order to fill in
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find_package(nav_msgs REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(Ceres REQUIRED)
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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find_package(Eigen3 REQUIRED NO_MODULE)
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find_package(TBB REQUIRED)
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find_package(Sophus REQUIRED)
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add_executable(simpleslam src/simpleslam_node.cpp )
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ament_target_dependencies(simpleslam rclcpp sensor_msgs nav_msgs)
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target_link_libraries(simpleslam Ceres::ceres Eigen3::Eigen TBB::tbb Sophus::Sophus)
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# include_directories(include lib/karto_sdk/include
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# ${EIGEN3_INCLUDE_DIRS}
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# ${CERES_INCLUDES}
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# )
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install(TARGETS
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simpleslam
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DESTINATION lib/${PROJECT_NAME})
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if(BUILD_TESTING)
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find_package(ament_cmake_gtest REQUIRED)
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ament_add_gtest(simpleslam_test test/orthtree_test.cpp)
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target_include_directories(simpleslam_test PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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target_link_libraries(simpleslam_test Ceres::ceres Eigen3::Eigen TBB::tbb Sophus::Sophus)
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endif()
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ament_package()
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