CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(fast_lio)

if(NOT CMAKE_BUILD_TYPE)
  set(CMAKE_BUILD_TYPE Release)
endif()

# 设置C++标准
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
add_compile_options(-std=c++17)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall")

add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\") 

set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fexceptions") 
set(CMAKE_POSITION_INDEPENDENT_CODE ON)

message("Current CPU architecture: ${CMAKE_SYSTEM_PROCESSOR}")

if(CMAKE_SYSTEM_PROCESSOR MATCHES "(x86)|(X86)|(amd64)|(AMD64)")
  include(ProcessorCount)
  ProcessorCount(N)
  message("Processor number: ${N}")

  if(N GREATER 4)
    add_definitions(-DMP_EN)
    add_definitions(-DMP_PROC_NUM=3)
    message("core for MP: 3")
  elseif(N GREATER 3)
    add_definitions(-DMP_EN)
    add_definitions(-DMP_PROC_NUM=2)
    message("core for MP: 2")
  else()
    add_definitions(-DMP_PROC_NUM=1)
  endif()
else()
  add_definitions(-DMP_PROC_NUM=1)
endif()

find_package(OpenMP QUIET)
if(OpenMP_FOUND)
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
  set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
endif()

find_package(PythonLibs REQUIRED)
find_path(MATPLOTLIB_CPP_INCLUDE_DIRS "matplotlibcpp.h")

# ROS dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)  # 这个find_package已经够了
find_package(visualization_msgs REQUIRED)
find_package(pcl_ros REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(rviz_common REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(pluginlib REQUIRED)
find_package(Qt5 REQUIRED COMPONENTS Widgets)
# Thirdparty libraries
find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED COMPONENTS common io filters)
message(STATUS "Eigen include dir: ${EIGEN3_INCLUDE_DIR}")
message(STATUS "PCL include dirs: ${PCL_INCLUDE_DIRS}")

# 包含Qt5
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTORCC ON)
set(CMAKE_AUTOUIC ON)

# 首先包含项目目录
include_directories(
  ${CMAKE_CURRENT_SOURCE_DIR}/include
  ${CMAKE_CURRENT_SOURCE_DIR}
)

set(dependencies
  rclcpp
  rclcpp_components
  geometry_msgs
  nav_msgs
  sensor_msgs
  std_msgs
  std_srvs      # 添加std_srvs到依赖列表
  visualization_msgs
  pcl_ros
  pcl_conversions
)

# 1. RVIZ面板插件
add_library(rviz_panel SHARED
  src/rviz_panel.cpp
  include/rviz_panel.hpp
)

# 为rviz_panel设置包含目录
target_include_directories(rviz_panel PUBLIC
  ${CMAKE_CURRENT_SOURCE_DIR}/include
  ${CMAKE_CURRENT_SOURCE_DIR}
  ${EIGEN3_INCLUDE_DIR}
  ${PCL_INCLUDE_DIRS}
  ${PYTHON_INCLUDE_DIRS}
)

# 修正：使用ament_target_dependencies而不是直接链接std_srvs
# ROS2中服务包通常不提供::目标
ament_target_dependencies(rviz_panel
  rclcpp
  std_srvs      # 这里会自动处理std_srvs的链接
  rviz_common
  pluginlib
  Qt5Widgets           # 添加Qt5依赖
)

# 链接rviz_panel的依赖（只链接库目标）
target_link_libraries(rviz_panel
  Qt5::Widgets
  rviz_common::rviz_common
  pluginlib::pluginlib
  # 不要链接std_srvs::std_srvs，ROS2服务包不提供这个目标
  # 使用ament_target_dependencies处理
)

# 2. 消息生成
set(msg_files
  "msg/Pose6D.msg"
)

rosidl_generate_interfaces(${PROJECT_NAME}
  ${msg_files}
)
ament_export_dependencies(rosidl_default_runtime)

# 3. 主程序fastlio_mapping
add_executable(fastlio_mapping 
  src/laserMapping.cpp 
  include/ikd-Tree/ikd_Tree.cpp 
  src/preprocess.cpp
)

# 为fastlio_mapping设置包含目录
target_include_directories(fastlio_mapping PUBLIC
  ${CMAKE_CURRENT_SOURCE_DIR}/include
  ${CMAKE_CURRENT_SOURCE_DIR}
  ${EIGEN3_INCLUDE_DIR}
  ${PCL_INCLUDE_DIRS}
  ${PYTHON_INCLUDE_DIRS}
)

# 链接fastlio_mapping的依赖
target_link_libraries(fastlio_mapping
  ${PCL_LIBRARIES}
  ${PYTHON_LIBRARIES}
  Eigen3::Eigen
)

# 消息类型支持
list(APPEND EOL_LIST "foxy" "galactic" "eloquent" "dashing" "crystal")

if($ENV{ROS_DISTRO} IN_LIST EOL_LIST)
  # Custommsg to support foxy & galactic
  rosidl_target_interfaces(fastlio_mapping
    ${PROJECT_NAME} "rosidl_typesupport_cpp")
else()
  rosidl_get_typesupport_target(cpp_typesupport_target
    ${PROJECT_NAME} "rosidl_typesupport_cpp")
  target_link_libraries(fastlio_mapping ${cpp_typesupport_target})
endif()

ament_target_dependencies(fastlio_mapping ${dependencies})

pluginlib_export_plugin_description_file(rviz_common plugins.xml)

# ---------------- 安装 --------------- #
# 安装可执行文件
install(TARGETS fastlio_mapping
  RUNTIME DESTINATION lib/${PROJECT_NAME}
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
)

# 安装插件库
install(TARGETS rviz_panel
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION lib
  ARCHIVE DESTINATION lib
)

# 安装plugins.xml
install(FILES plugins.xml
  DESTINATION share/${PROJECT_NAME}
)

# 安装其他资源
install(
  DIRECTORY config launch rviz
  DESTINATION share/${PROJECT_NAME}
)

# 安装头文件
install(
  DIRECTORY include/
  DESTINATION include
)

# 导出ament依赖
ament_export_include_directories(include)
ament_export_libraries(rviz_panel)
ament_export_dependencies(rclcpp)
ament_export_dependencies(std_srvs)
ament_export_dependencies(rviz_common)
ament_export_dependencies(pluginlib)
ament_export_dependencies(Qt5)

ament_package()