211 lines
5.7 KiB
CMake
211 lines
5.7 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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cmake_policy(SET CMP0048 NEW)
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project(rslidar_sdk)
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#=======================================
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# Custom Point Type (XYZI,XYZIRT, XYZIF, XYZIRTF)
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#=======================================
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set(POINT_TYPE XYZI)
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option(ENABLE_TRANSFORM "Enable transform functions" OFF)
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if(${ENABLE_TRANSFORM})
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add_definitions("-DENABLE_TRANSFORM")
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find_package(Eigen3 REQUIRED)
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include_directories(${EIGEN3_INCLUDE_DIR})
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endif(${ENABLE_TRANSFORM})
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option(ENABLE_EPOLL_RECEIVE "Receive packets with epoll() instead of select()" OFF)
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if(${ENABLE_EPOLL_RECEIVE})
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add_definitions("-DENABLE_EPOLL_RECEIVE")
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endif(${ENABLE_EPOLL_RECEIVE})
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option(ENABLE_MODIFY_RECVBUF "Enable modify size of RECVBUF" ON)
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if(${ENABLE_MODIFY_RECVBUF})
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add_definitions("-DENABLE_MODIFY_RECVBUF")
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endif(${ENABLE_MODIFY_RECVBUF})
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option(ENABLE_WAIT_IF_QUEUE_EMPTY "Enable waiting for a while in handle thread if the queue is empty" OFF)
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if(${ENABLE_WAIT_IF_QUEUE_EMPTY})
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add_definitions("-DENABLE_WAIT_IF_QUEUE_EMPTY")
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endif(${ENABLE_WAIT_IF_QUEUE_EMPTY})
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option(ENABLE_DIFOP_PARSE "Enable parsing DIFOP Packet" ON)
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if(${ENABLE_DIFOP_PARSE})
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add_definitions("-DENABLE_DIFOP_PARSE")
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endif(${ENABLE_DIFOP_PARSE})
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option(ENABLE_STAMP_WITH_LOCAL "Enable stamp point cloud with local time" OFF)
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if(${ENABLE_STAMP_WITH_LOCAL})
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add_definitions("-DENABLE_STAMP_WITH_LOCAL")
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endif(${ENABLE_STAMP_WITH_LOCAL})
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option(ENABLE_SOURCE_PACKET_LEGACY "Enable ROS Source of MSOP/DIFOP Packet v1.3.x" OFF)
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if(${ENABLE_SOURCE_PACKET_LEGACY})
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add_definitions("-DENABLE_SOURCE_PACKET_LEGACY")
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endif(${ENABLE_SOURCE_PACKET_LEGACY})
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option(ENABLE_IMU_DATA_PARSE "Enable imu data parse" OFF)
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if(${ENABLE_IMU_DATA_PARSE})
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message(=============================================================)
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message("-- Enable imu data parse")
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message(=============================================================)
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add_definitions("-DENABLE_IMU_DATA_PARSE")
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endif(${ENABLE_IMU_DATA_PARSE})
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#========================
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# Project details / setup
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#========================
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set(PROJECT_NAME rslidar_sdk)
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add_definitions(-DPROJECT_PATH="${PROJECT_SOURCE_DIR}")
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if (CMAKE_BUILD_TYPE STREQUAL "")
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set(CMAKE_BUILD_TYPE Release)
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add_definitions(-O3)
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endif()
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add_definitions(-std=c++17)
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add_compile_options(-Wall)
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#========================
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# Point Type Definition
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#========================
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if(${POINT_TYPE} STREQUAL "XYZI")
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add_definitions(-DPOINT_TYPE_XYZI)
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elseif(${POINT_TYPE} STREQUAL "XYZIRT")
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add_definitions(-DPOINT_TYPE_XYZIRT)
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elseif(${POINT_TYPE} STREQUAL "XYZIF")
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add_definitions(-DPOINT_TYPE_XYZIF)
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elseif(${POINT_TYPE} STREQUAL "XYZIRTF")
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add_definitions(-DPOINT_TYPE_XYZIRTF)
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endif()
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message(=============================================================)
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message("-- POINT_TYPE is ${POINT_TYPE}")
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message(=============================================================)
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#========================
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# Dependencies Setup
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#========================
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#ROS#
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find_package(roscpp 1.12 QUIET)
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if(roscpp_FOUND)
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message(=============================================================)
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message("-- ROS Found. ROS Support is turned On.")
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message(=============================================================)
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add_definitions(-DROS_FOUND)
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find_package(roslib QUIET)
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include_directories(${roscpp_INCLUDE_DIRS} ${roslib_INCLUDE_DIRS})
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set(ROS_LIBS ${roscpp_LIBRARIES} ${roslib_LIBRARIES})
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add_definitions(-DRUN_IN_ROS_WORKSPACE)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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sensor_msgs
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roslib)
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catkin_package(CATKIN_DEPENDS
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sensor_msgs
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roslib)
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else(roscpp_FOUND)
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message(=============================================================)
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message("-- ROS Not Found. ROS Support is turned Off.")
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message(=============================================================)
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endif(roscpp_FOUND)
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#ROS2#
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find_package(rclcpp QUIET)
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if(rclcpp_FOUND)
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message(=============================================================)
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message("-- ROS2 Found. ROS2 Support is turned On.")
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message(=============================================================)
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add_definitions(-DROS2_FOUND)
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include_directories(${rclcpp_INCLUDE_DIRS})
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set(CMAKE_CXX_STANDARD 14)
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find_package(ament_cmake REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(rslidar_msg REQUIRED)
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find_package(std_msgs REQUIRED)
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else(rclcpp_FOUND)
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message(=============================================================)
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message("-- ROS2 Not Found. ROS2 Support is turned Off.")
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message(=============================================================)
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endif(rclcpp_FOUND)
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#Others#
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find_package(yaml-cpp REQUIRED)
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#Include directory#
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include_directories(${PROJECT_SOURCE_DIR}/src)
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#Driver core#
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add_subdirectory(src/rs_driver)
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find_package(rs_driver REQUIRED)
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include_directories(${rs_driver_INCLUDE_DIRS})
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#========================
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# Build Setup
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#========================
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add_executable(rslidar_sdk_node
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node/rslidar_sdk_node.cpp
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src/manager/node_manager.cpp)
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target_link_libraries(rslidar_sdk_node
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${YAML_CPP_LIBRARIES}
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${rs_driver_LIBRARIES})
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#Ros#
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if(roscpp_FOUND)
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target_link_libraries(rslidar_sdk_node
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${ROS_LIBS})
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install(TARGETS rslidar_sdk_node
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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endif(roscpp_FOUND)
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#Ros2#
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if(rclcpp_FOUND)
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ament_target_dependencies(rslidar_sdk_node
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rclcpp
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std_msgs
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sensor_msgs
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rslidar_msg)
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install(TARGETS
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rslidar_sdk_node
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DESTINATION lib/${PROJECT_NAME})
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install(DIRECTORY
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launch
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config
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rviz
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DESTINATION share/${PROJECT_NAME})
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ament_package()
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endif(rclcpp_FOUND)
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