forked from RoboSense-LiDAR/rslidar_sdk
-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathCMakeLists.txt
155 lines (117 loc) · 4.31 KB
/
CMakeLists.txt
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
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
cmake_minimum_required(VERSION 3.5)
cmake_policy(SET CMP0048 NEW)
project(rslidar_sdk)
#=======================================
# Custom Point Type (XYZI, XYZIRT)
#=======================================
set(POINT_TYPE XYZI)
#=======================================
# Compile setup (ORIGINAL, CATKIN, COLCON)
#=======================================
set(COMPILE_METHOD COLCON)
option(ENABLE_TRANSFORM "Enable transform functions" OFF)
if(${ENABLE_TRANSFORM})
add_definitions("-DENABLE_TRANSFORM")
find_package(Eigen3 REQUIRED)
include_directories(${EIGEN3_INCLUDE_DIR})
endif(${ENABLE_TRANSFORM})
option(ENABLE_EPOLL_RECEIVE "Receive packets with epoll() instead of select()" OFF)
if(${ENABLE_EPOLL_RECEIVE})
add_definitions("-DENABLE_EPOLL_RECEIVE")
endif(${ENABLE_EPOLL_RECEIVE})
option(ENABLE_DOUBLE_RCVBUF "Enable double size of RCVBUF" OFF)
if(${ENABLE_DOUBLE_RCVBUF})
add_definitions("-DENABLE_DOUBLE_RCVBUF")
endif(${ENABLE_DOUBLE_RCVBUF})
option(ENABLE_WAIT_IF_QUEUE_EMPTY "Enable waiting for a while in handle thread if the queue is empty" OFF)
if(${ENABLE_WAIT_IF_QUEUE_EMPTY})
add_definitions("-DENABLE_WAIT_IF_QUEUE_EMPTY")
endif(${ENABLE_WAIT_IF_QUEUE_EMPTY})
option(ENABLE_STAMP_WITH_LOCAL "Enable stamp point cloud with local time" OFF)
if(${ENABLE_STAMP_WITH_LOCAL})
add_definitions("-DENABLE_STAMP_WITH_LOCAL")
endif(${ENABLE_STAMP_WITH_LOCAL})
option(ENABLE_SOURCE_PACKET_LEGACY "Enable ROS Source of MSOP/DIFOP Packet v1.3.x" OFF)
if(${ENABLE_SOURCE_PACKET_LEGACY})
add_definitions("-DENABLE_SOURCE_PACKET_LEGACY")
endif(${ENABLE_SOURCE_PACKET_LEGACY})
#========================
# Project details / setup
#========================
set(PROJECT_NAME rslidar_sdk)
add_definitions(-DPROJECT_PATH="${PROJECT_SOURCE_DIR}")
if (CMAKE_BUILD_TYPE STREQUAL "")
set(CMAKE_BUILD_TYPE Release)
add_definitions(-O3)
endif()
if($ENV{ROS_DISTRO} STREQUAL "humble") # the ros2 humble requires c++17
add_definitions(-std=c++17)
else()
add_definitions(-std=c++14)
endif()
add_compile_options(-Wall)
#========================
# Point Type Definition
#========================
if(${POINT_TYPE} STREQUAL "XYZI")
add_definitions(-DPOINT_TYPE_XYZI)
elseif(${POINT_TYPE} STREQUAL "XYZIRT")
add_definitions(-DPOINT_TYPE_XYZIRT)
endif()
message(=============================================================)
message("-- POINT_TYPE is ${POINT_TYPE}")
message(=============================================================)
#========================
# Dependencies Setup
#========================
#ROS2#
find_package(rclcpp QUIET)
if(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
message(=============================================================)
message("-- ROS2 Found. ROS2 Support is turned On.")
message(=============================================================)
add_definitions(-DROS2_FOUND)
include_directories(${rclcpp_INCLUDE_DIRS})
set(CMAKE_CXX_STANDARD 14)
find_package(ament_cmake REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(rslidar_msg REQUIRED)
find_package(std_msgs REQUIRED)
else(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
message(=============================================================)
message("-- ROS2 Not Found. ROS2 Support is turned Off.")
message(=============================================================)
endif(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
#Others#
find_package(yaml-cpp REQUIRED)
#Include directory#
include_directories(${PROJECT_SOURCE_DIR}/src)
#Driver core#
add_subdirectory(src/rs_driver)
find_package(rs_driver REQUIRED)
include_directories(${rs_driver_INCLUDE_DIRS})
#========================
# Build Setup
#========================
add_executable(rslidar_sdk_node
node/rslidar_sdk_node.cpp
src/manager/node_manager.cpp)
target_link_libraries(rslidar_sdk_node
${YAML_CPP_LIBRARIES}
${rs_driver_LIBRARIES})
#Ros2#
if(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")
ament_target_dependencies(rslidar_sdk_node
rclcpp
std_msgs
sensor_msgs
rslidar_msg)
install(TARGETS
rslidar_sdk_node
DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY
launch
rviz
DESTINATION share/${PROJECT_NAME})
ament_package()
endif(rclcpp_FOUND AND ${COMPILE_METHOD} STREQUAL "COLCON")