ROS2-SLAM-Fundamental/explore/CMakeLists.txt

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CMake
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cmake_minimum_required(VERSION 3.5)
project(explore_lite)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# Set flag depending on distro
if(NOT DEFINED ENV{ROS_DISTRO})
message(FATAL_ERROR "ROS_DISTRO is not defined." )
endif()
if("$ENV{ROS_DISTRO}" STREQUAL "eloquent")
message(STATUS "Build for ROS2 eloquent")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DELOQUENT")
elseif("$ENV{ROS_DISTRO}" STREQUAL "dashing")
message(STATUS "Build for ROS2 dashing")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -DDASHING")
else()
message(STATUS "BuilD for ROS2: " "$ENV{ROS_DISTRO}")
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(nav2_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(map_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(nav2_costmap_2d REQUIRED)
set(DEPENDENCIES
rclcpp
std_msgs
sensor_msgs
tf2
tf2_ros
tf2_geometry_msgs
nav2_msgs
nav_msgs
map_msgs
nav2_costmap_2d
visualization_msgs
)
include_directories(
include
)
install(
DIRECTORY include/explore/
DESTINATION include/explore/
)
install(DIRECTORY
config
DESTINATION share/${PROJECT_NAME}
)
install(DIRECTORY
launch
DESTINATION share/${PROJECT_NAME}
)
add_executable(explore
src/costmap_client.cpp
src/explore.cpp
src/frontier_search.cpp
)
target_include_directories(explore PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(explore ${rclcpp_LIBRARIES})
ament_target_dependencies(explore ${DEPENDENCIES})
install(TARGETS explore
DESTINATION lib/${PROJECT_NAME})
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
#############
## Testing ##
#############
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)
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
find_package(ament_cmake_gtest REQUIRED)
ament_add_gtest(test_explore test/test_explore.cpp)
target_link_libraries(test_explore ${catkin_LIBRARIES})
ament_target_dependencies(test_explore ${DEPENDENCIES})
endif()
ament_export_include_directories(include)
ament_package()