92 lines
2.4 KiB
CMake
Executable File
92 lines
2.4 KiB
CMake
Executable File
cmake_minimum_required(VERSION 3.5)
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project(point_lio)
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SET(CMAKE_BUILD_TYPE "Debug")
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ADD_COMPILE_OPTIONS(-std=c++17 )
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ADD_COMPILE_OPTIONS(-std=c++17 )
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set( CMAKE_CXX_FLAGS "-std=c++17 -O3" )
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add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions" )
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -pthread -std=c++0x -std=c++17 -fexceptions")
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#add_compile_definitions(BOOST_BIND_GLOBAL_PLACEHOLDERS)
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find_package(OpenMP QUIET)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
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set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
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find_package(PythonLibs REQUIRED)
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find_path(MATPLOTLIB_CPP_INCLUDE_DIRS "matplotlibcpp.h")
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# Find packages
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclpy REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(pcl_ros REQUIRED)
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find_package(pcl_conversions REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(tf2_eigen REQUIRED)
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find_package(livox_ros_driver2 REQUIRED)
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find_package(visualization_msgs REQUIRED)
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find_package(Eigen3 REQUIRED)
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find_package(PCL REQUIRED)
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message(Eigen: ${EIGEN3_INCLUDE_DIR})
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include_directories(
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${catkin_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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${PCL_INCLUDE_DIRS}
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${PYTHON_INCLUDE_DIRS}
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include)
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link_directories(
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include
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${PCL_LIBRARY_DIRS}
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)
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# Declare a ROS2 executable
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add_executable(pointlio_mapping src/laserMapping.cpp src/li_initialization.cpp src/parameters.cpp src/preprocess.cpp src/Estimator.cpp src/IMU_Processing.cpp)
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ament_target_dependencies(pointlio_mapping
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rclcpp
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rclpy
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geometry_msgs
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nav_msgs
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sensor_msgs
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pcl_ros
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pcl_conversions
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tf2_ros
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tf2_eigen
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livox_ros_driver2
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visualization_msgs
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)
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target_link_libraries(pointlio_mapping ${PYTHON_LIBRARIES})
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target_include_directories(pointlio_mapping PRIVATE ${PYTHON_INCLUDE_DIRS})
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# Install the executable
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install(TARGETS
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pointlio_mapping
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DESTINATION lib/${PROJECT_NAME}
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)
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install(
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DIRECTORY config launch rviz_cfg
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DESTINATION share/${PROJECT_NAME}
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)
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# Export dependencies
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ament_export_dependencies(rclcpp rclpy geometry_msgs nav_msgs sensor_msgs pcl_ros pcl_conversions tf2_ros tf2_eigen livox_ros_driver2 Eigen3)
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ament_package()
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