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| 1 | +# Copyright 2024 Ekumen, Inc. |
| 2 | +# |
| 3 | +# Licensed under the Apache License, Version 2.0 (the "License"); |
| 4 | +# you may not use this file except in compliance with the License. |
| 5 | +# You may obtain a copy of the License at |
| 6 | +# |
| 7 | +# http://www.apache.org/licenses/LICENSE-2.0 |
| 8 | +# |
| 9 | +# Unless required by applicable law or agreed to in writing, software |
| 10 | +# distributed under the License is distributed on an "AS IS" BASIS, |
| 11 | +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| 12 | +# See the License for the specific language governing permissions and |
| 13 | +# limitations under the License. |
| 14 | + |
| 15 | +################################################################################ |
| 16 | +# Set minimum required version of cmake, project name and compile options |
| 17 | +################################################################################ |
| 18 | + |
| 19 | +cmake_minimum_required(VERSION 3.5) |
| 20 | +project(beluga_demo_amcl3_localization) |
| 21 | + |
| 22 | +set(OPENVDB_CMAKE_MODULE_PATH |
| 23 | + ${OPENVDB_CMAKE_MODULE_PATH} |
| 24 | + CACHE PATH "Path to OpenVDB CMake module") |
| 25 | + |
| 26 | +if(NOT OPENVDB_CMAKE_MODULE_PATH) |
| 27 | + file(GLOB_RECURSE OPENVDB_MODULES /usr/lib/*/FindOpenVDB.cmake |
| 28 | + /usr/local/lib/*/FindOpenVDB.cmake) |
| 29 | + list(LENGTH OPENVDB_MODULES NUM_OPENVDB_MODULES) |
| 30 | + if (NUM_OPENVDB_MODULES EQUAL 1) |
| 31 | + list(GET OPENVDB_MODULES 0 OPENVDB_MODULE) |
| 32 | + get_filename_component(OPENVDB_CMAKE_MODULE_PATH ${OPENVDB_MODULE} |
| 33 | + DIRECTORY) |
| 34 | + endif() |
| 35 | + unset(NUM_OPENVDB_MODULES) |
| 36 | + unset(OPENVDB_MODULES) |
| 37 | +endif() |
| 38 | +if(OPENVDB_CMAKE_MODULE_PATH) |
| 39 | + list(APPEND CMAKE_MODULE_PATH ${OPENVDB_CMAKE_MODULE_PATH}) |
| 40 | +endif() |
| 41 | + |
| 42 | +################################################################################ |
| 43 | +# Find ament packages and libraries for ament and system dependencies |
| 44 | +################################################################################ |
| 45 | + |
| 46 | +find_package(ament_cmake REQUIRED) |
| 47 | +find_package(rclcpp REQUIRED) |
| 48 | +find_package(range-v3 REQUIRED) |
| 49 | +find_package(Sophus REQUIRED) |
| 50 | +find_package(Eigen3 REQUIRED NO_MODULE) |
| 51 | +find_package(beluga REQUIRED) |
| 52 | +find_package(beluga_ros REQUIRED) |
| 53 | +find_package(beluga_vdb REQUIRED) |
| 54 | +find_package(rclcpp_components REQUIRED) |
| 55 | +find_package(tf2 REQUIRED) |
| 56 | +find_package(tf2_eigen REQUIRED) |
| 57 | +find_package(tf2_geometry_msgs REQUIRED) |
| 58 | +find_package(message_filters REQUIRED) |
| 59 | +find_package(geometry_msgs REQUIRED) |
| 60 | +find_package(sensor_msgs REQUIRED) |
| 61 | +find_package(visualization_msgs REQUIRED) |
| 62 | +find_package(std_msgs REQUIRED) |
| 63 | +find_package(OpenVDB REQUIRED) |
| 64 | + |
| 65 | + |
| 66 | +################################################################################ |
| 67 | +# Build |
| 68 | +################################################################################ |
| 69 | + |
| 70 | +add_library(beluga_amcl3_demo_component SHARED) |
| 71 | +target_sources(beluga_amcl3_demo_component PRIVATE src/beluga_amcl3_demo.cpp) |
| 72 | +target_compile_features(beluga_amcl3_demo_component PUBLIC cxx_std_17) |
| 73 | +target_link_libraries(beluga_amcl3_demo_component |
| 74 | + PUBLIC beluga::beluga beluga_ros::beluga_ros beluga_vdb::beluga_vdb) |
| 75 | +ament_target_dependencies( |
| 76 | + beluga_amcl3_demo_component |
| 77 | + PUBLIC ament_index_cpp |
| 78 | + geometry_msgs |
| 79 | + visualization_msgs |
| 80 | + std_msgs |
| 81 | + sensor_msgs |
| 82 | + message_filters |
| 83 | + rclcpp |
| 84 | + rclcpp_components |
| 85 | + tf2 |
| 86 | + tf2_eigen |
| 87 | + tf2_geometry_msgs |
| 88 | + tf2_ros |
| 89 | + beluga |
| 90 | + beluga_ros |
| 91 | + beluga_vdb) |
| 92 | +rclcpp_components_register_node( |
| 93 | + beluga_amcl3_demo_component |
| 94 | + PLUGIN |
| 95 | + "beluga_demo_amcl3_localization::Amcl3Node" |
| 96 | + EXECUTABLE beluga_amcl3_demo_node) |
| 97 | + |
| 98 | + |
| 99 | +################################################################################ |
| 100 | +# Install |
| 101 | +################################################################################ |
| 102 | + |
| 103 | +install( |
| 104 | + TARGETS beluga_amcl3_demo_component |
| 105 | + ARCHIVE DESTINATION lib |
| 106 | + LIBRARY DESTINATION lib |
| 107 | + RUNTIME DESTINATION bin) |
| 108 | +install(TARGETS beluga_amcl3_demo_node DESTINATION lib/${PROJECT_NAME}) |
| 109 | + |
| 110 | +# Install Python executables |
| 111 | +install(PROGRAMS |
| 112 | + scripts/marker_publisher.py |
| 113 | + DESTINATION lib/${PROJECT_NAME} |
| 114 | +) |
| 115 | + |
| 116 | +install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}) |
| 117 | +install(DIRECTORY maps DESTINATION share/${PROJECT_NAME}) |
| 118 | +install(DIRECTORY rviz DESTINATION share/${PROJECT_NAME}) |
| 119 | + |
| 120 | +ament_package() |
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