holistic_fusion/ros/examples/imu_pose3_fuser/CMakeLists.txt at main · leggedrobotics/holistic_fusion · 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
cmake_minimum_required(VERSION 3.16)
project(imu_pose3_fuser)

## Compile as C++17, supported in ROS Noetic and newer
add_compile_options(-std=c++17)

# Find Dependencies ---------------------------------------------------------------------------------------------------
find_package(Eigen3 REQUIRED)
message("Eigen Version:" ${EIGEN3_VERSION_STRING})
message("Eigen Path:" ${Eigen3_DIR})

# Color
if(NOT WIN32)
  string(ASCII 27 Esc)
  set(ColourReset "${Esc}[m")
  set(BoldMagenta "${Esc}[1;35m")
  set(Magenta     "${Esc}[35m")
endif()

# March native check
#include(CheckCXXCompilerFlag)
#CHECK_CXX_COMPILER_FLAG("-march=native" COMPILER_SUPPORTS_MARCH_NATIVE)
#if(COMPILER_SUPPORTS_MARCH_NATIVE)
#  add_compile_options("-march=native")
#  message("${BoldMagenta}INFO: Using -march=native${ColourReset}")
#endif()

# Catkin dependencies -------------------------------------------------------------------------------------------------
set(CATKIN_PACKAGE_DEPENDENCIES
  graph_msf_ros
  nav_msgs
  sensor_msgs
  roscpp
  std_msgs
  tf
)

find_package(catkin REQUIRED COMPONENTS
  ${CATKIN_PACKAGE_DEPENDENCIES}
)

catkin_package(
  INCLUDE_DIRS include
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS ${CATKIN_PACKAGE_DEPENDENCIES}
)

###########
## Build ##
###########
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

include_directories(
        include
        ${catkin_INCLUDE_DIRS}
        ${EIGEN3_INCLUDE_DIR}
)

# Library
add_library(${PROJECT_NAME}
        src/lib/ImuPose3Fuser.cpp
        src/lib/readParams.cpp
        include/imu_pose3_fuser/constants.h)
target_link_libraries(${PROJECT_NAME}
        ${catkin_LIBRARIES})

# Executable
add_executable(${PROJECT_NAME}_node src/imu_pose3_fuser_node.cpp)
target_link_libraries(${PROJECT_NAME}_node ${PROJECT_NAME})

add_dependencies(${PROJECT_NAME}
        ${catkin_EXPORTED_TARGETS})

# Add clang tooling
find_package(cmake_clang_tools QUIET)
if(cmake_clang_tools_FOUND AND NOT DEFINED NO_CLANG_TOOLING)
  add_clang_tooling(
    TARGET ${PROJECT_NAME}
    SOURCE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/src ${CMAKE_CURRENT_SOURCE_DIR}/include
    CT_HEADER_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/include
    CF_FIX
  )
endif(cmake_clang_tools_FOUND AND NOT DEFINED NO_CLANG_TOOLING)

#############
## Install ##
#############

install(TARGETS ${PROJECT_NAME}
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

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

## Mark cpp header files for installation
install(DIRECTORY config launch rviz
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)