frames/CMakeLists.txt at humble · BumblebeeAS/frames · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
cmake_minimum_required(VERSION 3.16)
project(
  "frames"
  VERSION 0.2.0
  DESCRIPTION
  "A frames library for working with frames and coordinate system"
)

set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)


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()

include_directories(
  include
  ${EIGEN3_INCLUDE_DIR}
)

find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED)
find_package(ament_cmake_auto REQUIRED)
find_package(bb_planner_msgs REQUIRED)
find_package(example_interfaces REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rclpy REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
ament_auto_find_build_dependencies()

ament_auto_add_library(${PROJECT_NAME} include/${PROJECT_NAME}/)
set_target_properties(${PROJECT_NAME}  PROPERTIES LINKER_LANGUAGE CXX)


add_library(enu_ned_converters SHARED
  src/enu_ned_converter.cpp)

ament_target_dependencies(enu_ned_converters
  rclcpp rclcpp_components
  tf2 tf2_ros geometry_msgs
  nav_msgs sensor_msgs
  example_interfaces Eigen3)

# rclcpp_components_register_node(enu_ned_converters PLUGIN "PoseWithCovarianceEnuNed" EXECUTABLE pose_with_covariance_enu_ned_node)
rclcpp_components_register_node(enu_ned_converters PLUGIN "PoseWithCovarianceStampedEnuNed" EXECUTABLE pose_with_covariance_stamped_enu_ned_node)
# rclcpp_components_register_node(enu_ned_converters PLUGIN "PoseEnuNed" EXECUTABLE pose_enu_ned_node)
# rclcpp_components_register_node(enu_ned_converters PLUGIN "PoseStampedEnuNed" EXECUTABLE pose_stamped_enu_ned_node)
# rclcpp_components_register_node(enu_ned_converters PLUGIN "TransformEnuNed" EXECUTABLE transform_enu_ned_node)
# rclcpp_components_register_node(enu_ned_converters PLUGIN "TransformStampedEnuNed" EXECUTABLE transform_stamped_enu_ned_node)
rclcpp_components_register_node(enu_ned_converters PLUGIN "PathEnuNed" EXECUTABLE path_enu_ned_node)
# rclcpp_components_register_node(enu_ned_converters PLUGIN "TwistEnuNed" EXECUTABLE twist_enu_ned_node)
# rclcpp_components_register_node(enu_ned_converters PLUGIN "TwistWithCovarianceEnuNed" EXECUTABLE twist_with_covariance_enu_ned_node)
rclcpp_components_register_node(enu_ned_converters PLUGIN "TwistWithCovarianceStampedEnuNed" EXECUTABLE twist_with_covariance_stamped_enu_ned_node)
rclcpp_components_register_node(enu_ned_converters PLUGIN "TwistStampedEnuNed" EXECUTABLE twist_stamped_enu_ned_node)
# rclcpp_components_register_node(enu_ned_converters PLUGIN "Vector3EnuNed" EXECUTABLE vector3_enu_ned_node)
rclcpp_components_register_node(enu_ned_converters PLUGIN "Vector3StampedEnuNed" EXECUTABLE vector3_stamped_enu_ned_node)
# rclcpp_components_register_node(enu_ned_converters PLUGIN "PointEnuNed" EXECUTABLE point_enu_ned_node)
# rclcpp_components_register_node(enu_ned_converters PLUGIN "PointStampedEnuNed" EXECUTABLE point_stamped_enu_ned_node)
rclcpp_components_register_node(enu_ned_converters PLUGIN "ImuEnuNed" EXECUTABLE imu_enu_ned_node)
rclcpp_components_register_node(enu_ned_converters PLUGIN "OdometryEnuNed" EXECUTABLE odometry_enu_ned_node)


add_executable(dest_pose_from_tf
src/dest_pose_from_tf.cpp)
ament_target_dependencies(dest_pose_from_tf
  PUBLIC
  bb_planner_msgs
  example_interfaces
  rclcpp
  rclcpp_components
  nav_msgs
  sensor_msgs
  geometry_msgs
  tf2_ros
  tf2
  tf2_geometry_msgs
)
ament_export_include_directories(include)


install(TARGETS
  dest_pose_from_tf
  enu_ned_converters
  EXPORT export_enu_ned_converters
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)

install(
  DIRECTORY include/
  DESTINATION include/${PROJECT_NAME}
)

ament_python_install_package(${PROJECT_NAME})

install(PROGRAMS
  scripts/convert_to_controls_pose.py
  scripts/static_tfs_node.py
  DESTINATION lib/${PROJECT_NAME})

# Install launch files
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)

ament_export_libraries(enu_ned_converters)

# ament_target_dependencies(${PROJECT_NAME} geometry_msgs )

# add_compile_options(-fconstexpr-depth=4096 -Wall -Wextra)
# add_executable(${PROJECT_NAME}_tests tests/src/tests.cpp)
# target_link_libraries(${PROJECT_NAME}_test ${PROJECT_NAME})
# add_test(NAME ${PROJECT_NAME}_test
#          COMMAND tests)
# target_compile_features(${PROJECT_NAME} PRIVATE cxx_std_17)
if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following lines skips linting
  set(ament_cmake_flake8_FOUND TRUE)
  set(ament_cmake_pep257_FOUND TRUE)
  set(ament_cmake_lint_cmake_FOUND TRUE)
  set(ament_cmake_uncrustify_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

# install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION include/${PROJECT_NAME}/)

# ament_export_include_directories(include)
ament_auto_package()