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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(dero)
# 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(CMAKE_EXPORT_COMPILE_COMMANDS ON)
enable_language(Fortran CXX)
add_library(odrpack
src/odrpack/d_odr.f
src/odrpack/d_mprec.f
src/odrpack/lpkbls.f
src/odrpack/dlunoc.f
src/odrpack/real_precision.f
)
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(rosbag2_cpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(PCL 1.10 REQUIRED)
find_package(pcl_conversions REQUIRED)
include_directories(
include
${PCL_INCLUDE_DIRS}
)
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
set(DEPENDENCIES
"rclcpp"
"std_msgs"
"sensor_msgs"
"rosbag2_cpp"
"nav_msgs"
"geometry_msgs"
"tf2_eigen"
"tf2_ros"
)
add_library(dero_lib SHARED
src/cores/run_ros2bag.cpp
src/cores/ekf_rio.cpp
src/cores/scekf_dero.cpp
src/cores/radar_estimator.cpp
src/cores/odr.cpp
src/utils/nav_convert.cpp
src/utils/math_tools.cpp
)
add_executable(scekf_dero_ros2bag_node
src/nodes/scekf_dero_ros2bag_node.cpp
)
target_link_libraries(scekf_dero_ros2bag_node
dero_lib
${PCL_LIBRARIES}
${BOOST_LIBRARIES}
odrpack
)
ament_target_dependencies(scekf_dero_ros2bag_node
rclcpp
std_msgs
sensor_msgs
nav_msgs
rosbag2_cpp
geometry_msgs
tf2_eigen
tf2_ros
pcl_conversions
)
ament_target_dependencies(dero_lib
rclcpp
std_msgs
sensor_msgs
nav_msgs
rosbag2_cpp
geometry_msgs
tf2_eigen
tf2_ros
pcl_conversions
)
install(TARGETS
scekf_dero_ros2bag_node
DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY
launch
DESTINATION share/${PROJECT_NAME}/)
install(DIRECTORY
include/
DESTINATION include)
install(TARGETS
dero_lib
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
ament_export_include_directories(include)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()