145 lines
4.1 KiB
CMake
145 lines
4.1 KiB
CMake
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cmake_minimum_required(VERSION 3.5)
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project(multirobot_map_merge)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++17
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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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(geometry_msgs REQUIRED)
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find_package(image_geometry REQUIRED)
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find_package(map_msgs REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(Boost REQUIRED COMPONENTS thread)
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# OpenCV is required for merging without initial positions
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find_package(OpenCV REQUIRED)
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if("${OpenCV_VERSION}" VERSION_LESS "3.0")
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message(FATAL_ERROR "This package needs OpenCV >= 3.0")
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endif()
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if("${OpenCV_VERSION}" VERSION_LESS "4.0")
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message(WARNING "This package supports OpenCV 3, but some features may not be "
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"available. Upgrade to OpenCV 4 to take advantage of all features.")
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endif()
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set(DEPENDENCIES
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rclcpp
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geometry_msgs
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image_geometry
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map_msgs
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nav_msgs
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tf2_geometry_msgs
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OpenCV
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)
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## Specify additional locations of header files
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include_directories(
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# ${Boost_INCLUDE_DIRS}
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# ${OpenCV_INCLUDE_DIRS}
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include
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)
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install(
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DIRECTORY include/map_merge/
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DESTINATION include/map_merge/
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)
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install(DIRECTORY
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launch
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config
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DESTINATION share/${PROJECT_NAME}
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)
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# we want static linking for now
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add_library(combine_grids STATIC
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src/combine_grids/grid_compositor.cpp
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src/combine_grids/grid_warper.cpp
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src/combine_grids/merging_pipeline.cpp
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)
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add_executable(map_merge
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src/map_merge.cpp
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)
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#############
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## Install ##
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#############
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target_include_directories(map_merge PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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target_include_directories(combine_grids PUBLIC
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
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"$<INSTALL_INTERFACE:include>"
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${rclcpp_INCLUDE_DIRS}
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${OpenCV_INCLUDE_DIRS}
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)
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target_link_libraries(combine_grids ${rclcpp_LIBRARIES} ${OpenCV_LIBS})
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# target_link_libraries(combine_grids ${OpenCV_LIBRARIES})
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target_link_libraries(map_merge combine_grids)
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# target_link_libraries(map_merge)
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ament_target_dependencies(map_merge ${DEPENDENCIES})
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install(
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TARGETS combine_grids
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EXPORT export_combine_grids
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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INCLUDES DESTINATION include
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)
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install(TARGETS map_merge
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DESTINATION lib/${PROJECT_NAME})
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")
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ament_export_include_directories(include)
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ament_export_libraries(combine_grids)
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ament_package()
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#############
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## Testing ##
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#############
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# if(CATKIN_ENABLE_TESTING)
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# find_package(roslaunch REQUIRED)
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# # download test data
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# set(base_url https://raw.githubusercontent.com/hrnr/m-explore-extra/master/map_merge)
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# catkin_download_test_data(${PROJECT_NAME}_map00.pgm ${base_url}/hector_maps/map00.pgm MD5 915609a85793ec1375f310d44f2daf87)
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# catkin_download_test_data(${PROJECT_NAME}_map05.pgm ${base_url}/hector_maps/map05.pgm MD5 cb9154c9fa3d97e5e992592daca9853a)
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# catkin_download_test_data(${PROJECT_NAME}_2011-08-09-12-22-52.pgm ${base_url}/gmapping_maps/2011-08-09-12-22-52.pgm MD5 3c2c38e7dec2b7a67f41069ab58badaa)
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# catkin_download_test_data(${PROJECT_NAME}_2012-01-28-11-12-01.pgm ${base_url}/gmapping_maps/2012-01-28-11-12-01.pgm MD5 681e704044889c95e47b0c3aadd81f1e)
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# catkin_add_gtest(test_merging_pipeline test/test_merging_pipeline.cpp)
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# # ensure that test data are downloaded before we run tests
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# add_dependencies(test_merging_pipeline ${PROJECT_NAME}_map00.pgm ${PROJECT_NAME}_map05.pgm ${PROJECT_NAME}_2011-08-09-12-22-52.pgm ${PROJECT_NAME}_2012-01-28-11-12-01.pgm)
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# target_link_libraries(test_merging_pipeline combine_grids ${catkin_LIBRARIES})
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# # test all launch files
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# # do not test from_map_server.launch as we don't want to add dependency on map_server and this
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# # launchfile is not critical
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# roslaunch_add_file_check(launch/map_merge.launch)
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# roslaunch_add_file_check(launch/experiments)
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# endif()
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