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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.12)
project(slam_constructor)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -pthread -fdiagnostics-color")
if(${CMAKE_VERSION} VERSION_LESS "3.1")
add_compile_options(-std=c++14)
else()
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
endif()
find_package(catkin REQUIRED COMPONENTS
roscpp
std_msgs
sensor_msgs
nav_msgs
geometry_msgs
tf
message_filters
rosbag_storage
)
include_directories(
${catkin_INCLUDE_DIRS}
)
catkin_package()
add_executable(wg_pr2_bag_adapter src/ros/wg_pr2_bag_adapter.cpp)
add_executable(lslam2D_bag_runner src/ros/lslam2D_bag_runner.cpp)
add_executable(gmapping src/slams/gmapping/gmapping.cpp)
add_executable(sh_slam src/ros/single_hypoth_slam_node.cpp)
add_executable(credibilist_slam src/slams/credibilist/slam.cpp)
#add_executable(graph_slam src/slams/graph/graph_demo.cpp)
#add_executable(viny_slam_x src/slams/vinyx/vinyx_slam.cpp)
add_executable(path_publisher src/ros/path_publisher.cpp)
add_executable(p2D_ss_evaluator src/utils/pose2D_search_space_evaluator.cpp)
add_executable(sm_runner src/utils/sm_runner.cpp)
target_link_libraries(wg_pr2_bag_adapter ${catkin_LIBRARIES})
target_link_libraries(lslam2D_bag_runner ${catkin_LIBRARIES})
target_link_libraries(gmapping ${catkin_LIBRARIES})
target_link_libraries(sh_slam ${catkin_LIBRARIES})
target_link_libraries(credibilist_slam ${catkin_LIBRARIES})
#target_link_libraries(graph_slam ${catkin_LIBRARIES})
#target_link_libraries(viny_slam_x ${catkin_LIBRARIES})
target_link_libraries(path_publisher ${catkin_LIBRARIES})
install(
TARGETS wg_pr2_bag_adapter lslam2D_bag_runner sh_slam gmapping credibilist_slam path_publisher
# TARGETS wg_pr2_bag_adapter lslam2D_bag_runner sh_slam gmapping path_publisher
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(
DIRECTORY config launch rviz
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
if(CATKIN_ENABLE_TESTING)
find_package(GTest)
include_directories(${GTEST_INCLUDE_DIRS})
# Maps
catkin_add_gtest(area_occupancy_estimator-test
test/core/maps/area_occupancy_estimator_test.cpp)
catkin_add_gtest(gm_scan_adders-test
test/core/maps/grid_map_scan_adders_test.cpp)
catkin_add_gtest(unbounded_plain_grid_map-test
test/core/maps/unbounded_plain_grid_map_test.cpp)
catkin_add_gtest(grid_common-test
test/core/maps/grid_common_test.cpp)
catkin_add_gtest(unbounded_lazy_tiled_grid_maps-test
test/core/maps/unbounded_lazy_tiled_grid_map_test.cpp)
catkin_add_gtest(regular_squares_grid-test
test/core/maps/regular_squares_grid_test.cpp)
catkin_add_gtest(grid_rasterization-test
test/core/maps/grid_rasterization_test.cpp)
catkin_add_gtest(rescalable_caching_grid_map-test
test/core/maps/rescalable_caching_grid_map_test.cpp)
# Core common
catkin_add_gtest(trig_utils-test
test/core/trigonometry_utils_test.cpp)
catkin_add_gtest(lwrectangle-test
test/core/light_weight_rectangle_test.cpp)
catkin_add_gtest(geom_dprimitives-test
test/core/geometry_discrete_primitives_test.cpp)
# Core states
catkin_add_gtest(sensor_data-test
test/core/states/sensor_data_test.cpp)
# Features
catkin_add_gtest(angle_histogram-test
test/core/features/angle_histogram_test.cpp)
# Scan Matching
catkin_add_gtest(occupancy_observation_probability-test
test/core/scan_matchers/occupancy_observation_probability_test.cpp)
catkin_add_gtest(hill_climbing_sm-smoke_test
test/core/scan_matchers/hill_climbing_sm_smoke_test.cpp)
catkin_add_gtest(brute_force_sm-smoke_test
test/core/scan_matchers/brute_force_sm_smoke_test.cpp)
catkin_add_gtest(bfmrsm-smoke_test
test/core/scan_matchers/bf_multi_res_sm_smoke_test.cpp)
catkin_add_gtest(m3rsm_rescalable_map-test
test/core/scan_matchers/m3rsm_rescalable_map_test.cpp)
# Utils common
catkin_add_gtest(grid_map_patcher-test
test/utils/data_generation/grid_map_patcher_test.cpp)
catkin_add_gtest(map_primitives-test
test/utils/data_generation/map_primitives_test.cpp)
catkin_add_gtest(lscan_generator-test
test/utils/data_generation/laser_scan_generator_test.cpp)
endif()