sweeper_200/src/perception/rslidar_pointcloud_merger/CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
cmake_policy(SET CMP0074 NEW)
project(rslidar_pointcloud_merger)

# 1. 默认开启 C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
  add_compile_options(-w) # 禁用所有警告
endif()

# 检查是否启用GPU加速
option(USE_GPU "Enable GPU acceleration (requires CUDA)" ON)

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(pcl_ros REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_sensor_msgs REQUIRED)
find_package(PCL REQUIRED COMPONENTS common io)

# GPU加速相关配置
if(USE_GPU)
  message(STATUS "GPU acceleration enabled")
  enable_language(CUDA)

  # 设置CUDA架构（Orin使用sm_87）
  set(CMAKE_CUDA_ARCHITECTURES "87")

  # 查找CUDA
  find_package(CUDAToolkit QUIET)
  if(CUDAToolkit_FOUND)
    message(STATUS "CUDAToolkit found: ${CUDAToolkit_VERSION}")
    add_definitions(-DUSE_GPU)
    include_directories(${CUDAToolkit_INCLUDE_DIRS})
  else()
    message(WARNING "CUDAToolkit not found, GPU acceleration disabled")
    set(USE_GPU OFF)
  endif()
endif()

include_directories(include ${PCL_INCLUDE_DIRS})

# 源文件列表
set(SOURCES src/merge_two_lidars.cpp)

# 如果启用GPU，添加GPU源文件
if(USE_GPU)
  list(APPEND SOURCES src/gpu_processing.cu)
endif()

add_executable(merge_two_lidars ${SOURCES})
ament_target_dependencies(
  merge_two_lidars
  rclcpp
  sensor_msgs
  pcl_conversions
  pcl_ros
  tf2
  tf2_ros
  tf2_sensor_msgs)

target_link_libraries(merge_two_lidars ${PCL_LIBRARIES})

# GPU加速链接库
if(USE_GPU)
  target_link_libraries(merge_two_lidars CUDA::cudart)
  if(CUDAToolkit_VERSION VERSION_GREATER_EQUAL 11.0)
    target_compile_features(merge_two_lidars PRIVATE cuda_std_17)
  else()
    target_compile_features(merge_two_lidars PRIVATE cuda_std_14)
  endif()
endif()

install(TARGETS merge_two_lidars DESTINATION lib/${PROJECT_NAME})

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

ament_package()