CMakeLists.txt

cmake_minimum_required(VERSION 3.5)

project(rviz_dynamic_slam_plugins)

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
  set(CMAKE_CXX_STANDARD_REQUIRED ON)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)
endif()

# # Tests currently only run on OS X @ OSRF jenkins
# # Enable on Linux by providing a display, enable on Windows via EnableDisplayTests=True
# option(EnableDisplayTests "EnableDisplayTests")
# set(DisplayTests "False" CACHE STRING "DisplayTestsVariable")

# if(DEFINED ENV{DISPLAY})
#   set(DISPLAYPRESENT TRUE)
# endif()

# if(APPLE OR DISPLAYPRESENT OR EnableDisplayTests STREQUAL "True")
#   message(STATUS "Enabling tests requiring a display")
# else()
#   set(SKIP_DISPLAY_TESTS "SKIP_TEST")
# endif()

# # options and directories for visual tests (see visual_testing_framework documentation)
# option(EnableVisualTests "decides whether or not to enable the tests")

# add_definitions(-D_BUILD_DIR_PATH="${CMAKE_CURRENT_BINARY_DIR}")
# add_definitions(-D_SRC_DIR_PATH="${CMAKE_CURRENT_SOURCE_DIR}")

# file(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/test_images)
# file(MAKE_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/test/reference_images)

# # Run visual tests only if "EnableVisualTests=True"
# if(EnableVisualTests STREQUAL "True")
#   message(STATUS "Enabling visual tests")
# else()
#   set(SKIP_VISUAL_TESTS "SKIP_TEST")
# endif()

# if(MSVC)
#   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /bigobj")
# endif()

# We specifically don't turn on CMAKE_AUTOMOC, since it generates one huge
# mocs_compilation.cpp file that takes a lot of memory to compile.  Instead
# we create individual moc files that can be compiled separately.

find_package(ament_cmake_ros REQUIRED)

find_package(rviz_common REQUIRED)
find_package(rviz_rendering REQUIRED)
find_package(rviz_ogre_vendor REQUIRED)

find_package(Qt5 REQUIRED COMPONENTS Widgets Test)

find_package(geometry_msgs REQUIRED)

# find_package(gz_math_vendor REQUIRED)
# find_package(gz-math REQUIRED)

find_package(dynamic_slam_interfaces REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(resource_retriever REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_ros REQUIRED)

set(rviz_dynamic_slam_plugins_headers_to_moc
  include/rviz_dynamic_slam_plugins/object_odometry_display.hpp
  include/rviz_dynamic_slam_plugins/object_odometry_path_display.hpp
)

foreach(header "${rviz_dynamic_slam_plugins_headers_to_moc}")
  qt5_wrap_cpp(rviz_dynamic_slam_plugins_moc_files "${header}")
endforeach()

set(rviz_dynamic_slam_plugins_source_files
  src/object_odometry_display.cc
  src/object_odometry_path_display.cc
)

add_library(rviz_dynamic_slam_plugins SHARED
  ${rviz_dynamic_slam_plugins_moc_files}
  ${rviz_dynamic_slam_plugins_source_files}
)

target_include_directories(rviz_dynamic_slam_plugins PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
  ${Qt5Widgets_INCLUDE_DIRS}
)

# needed to find custom messages
ament_target_dependencies(rviz_dynamic_slam_plugins PUBLIC
   rclcpp
   dynamic_slam_interfaces
)


target_link_libraries(rviz_dynamic_slam_plugins PUBLIC
  ${geometry_msgs_TARGETS}
  ${map_msgs_TARGETS}
  ${nav_msgs_TARGETS}
#   rclcpp::rclcpp
  rviz_common::rviz_common
  rviz_ogre_vendor::OgreMain
  rviz_ogre_vendor::OgreOverlay
  rviz_rendering::rviz_rendering
  ${sensor_msgs_TARGETS}
  tf2::tf2
  ${tf2_geometry_msgs_TARGETS}
  tf2_ros::tf2_ros
)

target_link_libraries(rviz_dynamic_slam_plugins PRIVATE
#   gz-math::core
  resource_retriever::resource_retriever
)

# Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it.
target_compile_definitions(rviz_dynamic_slam_plugins PRIVATE "rviz_dynamic_slam_plugins_BUILDING_LIBRARY")

pluginlib_export_plugin_description_file(rviz_common plugins_description.xml)

# Export old-style CMake variables
ament_export_include_directories("include/${PROJECT_NAME}")

# Export modern CMake targets
ament_export_targets(rviz_dynamic_slam_plugins HAS_LIBRARY_TARGET)

ament_export_dependencies(
  dynamic_slam_interfaces
  geometry_msgs
  nav_msgs
  rclcpp
  rviz_common
  rviz_ogre_vendor
  rviz_rendering
  sensor_msgs
  tf2
  tf2_geometry_msgs
  tf2_ros
)

install(
  TARGETS rviz_dynamic_slam_plugins
  EXPORT rviz_dynamic_slam_plugins
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

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

# install(
#   DIRECTORY "${CMAKE_CURRENT_SOURCE_DIR}/icons"
#   DESTINATION "share/${PROJECT_NAME}"
# )


ament_package(
  CONFIG_EXTRAS "rviz_dynamic_slam_plugins-extras.cmake"
)