cartographer-ros-master.zip

# Copyright 2016 The Cartographer Authors # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. cmake_minimum_required(VERSION 2.8.12) # Ships with Ubuntu 14.04 (Trusty) project(cartographer_ros) set(PACKAGE_DEPENDENCIES cartographer_ros_msgs geometry_msgs message_runtime nav_msgs pcl_conversions rosbag roscpp roslib sensor_msgs std_msgs tf2 tf2_eigen tf2_ros urdf visualization_msgs ) if(WIN32) set(Boost_USE_STATIC_LIBS FALSE) endif() # For yet unknown reason, if Boost is find_packaged() after find_package(cartographer), # some Boost libraries including Thread are set to static, despite Boost_USE_STATIC_LIBS, # which causes linking problems on windows due to shared/static Thread clashing. # PCL also finds Boost. Work around by moving before find_package(cartographer). find_package(Boost REQUIRED COMPONENTS system iostreams) find_package(PCL REQUIRED COMPONENTS common) find_package(cartographer REQUIRED) include("${CARTOGRAPHER_CMAKE_DIR}/functions.cmake") option(BUILD_GRPC "build features that require Cartographer gRPC support" false) google_initialize_cartographer_project() google_enable_testing() set(CARTOGRAPHER_GMOCK_LIBRARIES ${GMOCK_LIBRARIES}) find_package(catkin REQUIRED COMPONENTS ${PACKAGE_DEPENDENCIES}) include(FindPkgConfig) find_package(absl REQUIRED) find_package(LuaGoogle REQUIRED) find_package(Eigen3 REQUIRED) find_package(urdfdom_headers REQUIRED) if(DEFINED urdfdom_headers_VERSION) if(${urdfdom_headers_VERSION} GREATER 0.4.1) add_definitions(-DURDFDOM_HEADERS_HAS_SHARED_PTR_DEFS) endif() endif() include_directories( ${urdfdom_headers_INCLUDE_DIRS} ) # Override Catkin's GTest configuration to use GMock. set(GTEST_FOUND TRUE) set(GTEST_INCLUDE_DIRS ${GMOCK_INCLUDE_DIRS}) set(GTEST_LIBRARIES ${CARTOGRAPHER_GMOCK_LIBRARIES}) catkin_package( CATKIN_DEPENDS ${PACKAGE_DEPENDENCIES} DEPENDS # TODO(damonkohler): This should be here but causes Catkin to abort because # protobuf specifies a library '-lpthread' instead of just 'pthread'. # CARTOGRAPHER PCL EIGEN3 Boost urdfdom_headers INCLUDE_DIRS "." LIBRARIES ${PROJECT_NAME} ) file(GLOB_RECURSE ALL_SRCS "cartographer_ros/*.cc" "cartographer_ros/*.h") file(GLOB_RECURSE ALL_TESTS "cartographer_ros/*_test.cc") file(GLOB_RECURSE ALL_EXECUTABLES "cartographer_ros/*_main.cc") file(GLOB_RECURSE ALL_GRPC_FILES "cartographer_ros/cartographer_grpc/*") list(REMOVE_ITEM ALL_SRCS ${ALL_TESTS}) list(REMOVE_ITEM ALL_SRCS ${ALL_EXECUTABLES}) if (NOT ${BUILD_GRPC}) list(REMOVE_ITEM ALL_SRCS ${ALL_GRPC_FILES}) list(REMOVE_ITEM ALL_TESTS ${ALL_GRPC_FILES}) list(REMOVE_ITEM ALL_EXECUTABLES ${ALL_GRPC_FILES}) endif() add_library(${PROJECT_NAME} STATIC ${ALL_SRCS}) add_subdirectory("cartographer_ros") target_link_libraries(${PROJECT_NAME} PUBLIC cartographer) # Lua target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${LUA_INCLUDE_DIR}) # PCL target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${PCL_INCLUDE_DIRS}) target_link_libraries(${PROJECT_NAME} PUBLIC ${PCL_LIBRARIES}) set(BLACKLISTED_PCL_DEFINITIONS " -march=native -msse4.2 -mfpmath=sse ") foreach(DEFINITION ${PCL_DEFINITIONS}) list (FIND BLACKLISTED_PCL_DEFINITIONS "${DEFINITION}" DEFINITIONS_INDEX) if (${DEFINITIONS_INDEX} GREATER -1) continue() endif() set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${DEFINITION}") endforeach() # Eigen target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${EIGEN3_INCLUDE_DIR}") # Boost target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC "${Boost_INCLUDE_DIRS}") target_link_libraries(${PROJECT_NAME} PUBLIC ${Boost_LIBRARIES}) # Catkin target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${catkin_INCLUDE_DIRS}) target_link_libraries(${PROJECT_NAME} PUBLIC ${catkin_LIBRARIES}) add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS}) # Add the binary directory first, so that port.h is included after it has # been generated. target_include_directories(${PROJECT_NAME} PUBLIC $<BUILD_INTERFACE:${PROJECT_BINARY_DIR}> $<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}> $<INSTALL_INTERFACE:include> ) set(TARGET_COMPILE_FLAGS "${TARGET_COMPILE_FLAGS} ${GOOG_CXX_FLAGS}") set_target_properties(${PROJECT_NAME} PROPERTIES COMPILE_FLAGS ${TARGET_COMPILE_FLAGS}) if (CATKIN_ENABLE_TESTING) foreach(TEST_SOURCE_FILENAME ${ALL_TESTS}) get_filename_component(TEST_NAME ${TEST_SOURCE_FILENAME} NAME_WE) catkin_add_gtest(${TEST_NAME} ${TEST_SOURCE_FILENAME}) # catkin_add_gtest uses a plain (i.e. no PUBLIC/PRIVATE/INTERFACE) call to # target_link_libraries. That forces us to do the same. target_link_libraries(${TEST_NAME} ${GMOCK_LIBRARIES} ${GTEST_MAIN_LIBRARIES}) target_include_directories(${TEST_NAME} SYSTEM PUBLIC ${LUA_INCLUDE_DIR}) target_link_libraries(${TEST_NAME} ${LUA_LIBRARIES}) target_include_directories(${TEST_NAME} SYSTEM PUBLIC ${catkin_INCLUDE_DIRS}) target_link_libraries(${TEST_NAME} ${catkin_LIBRARIES}) add_dependencies(${TEST_NAME} ${catkin_EXPORTED_TARGETS}) target_link_libraries(${TEST_NAME} cartographer) target_link_libraries(${TEST_NAME} ${PROJECT_NAME}) set_target_properties(${TEST_NAME} PROPERTIES COMPILE_FLAGS ${TARGET_COMPILE_FLAGS}) # Needed for dynamically linked GTest on Windows. if (WIN32) target_compile_definitions(${TEST_NAME} PUBLIC -DGTEST_LINKED_AS_SHARED_LIBRARY) endif() endforeach() endif() install(DIRECTORY launch urdf configuration_files DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} ) install(PROGRAMS scripts/tf_remove_frames.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} ) install(TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} ) # Install source headers. file(GLOB_RECURSE HDRS "cartographer_ros/*.h") foreach(HDR ${HDRS}) file(RELATIVE_PATH REL_FIL ${PROJECT_SOURCE_DIR} ${HDR}) get_filename_component(INSTALL_DIR ${REL_FIL} DIRECTORY) install( FILES ${HDR} DESTINATION include/${INSTALL_DIR} ) endforeach()