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Fix errors of catkin_lint #81

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Fix errors of catkin_lint #81

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15 changes: 13 additions & 2 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,9 @@ cmake_minimum_required(VERSION 3.12.4)
project(direct_lidar_inertial_odometry)

add_compile_options(-std=c++17)
set(CMAKE_BUILD_TYPE "Release")
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
endif()

find_package( PCL REQUIRED )
include_directories(${PCL_INCLUDE_DIRS})
Expand All @@ -24,7 +26,7 @@ link_directories(${PCL_LIBRARY_DIRS})
find_package( Eigen3 REQUIRED )
include_directories(${EIGEN3_INCLUDE_DIR})

include(FindOpenMP)
find_package(OpenMP)
if(OPENMP_FOUND)
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
Expand All @@ -45,6 +47,7 @@ find_package(catkin REQUIRED COMPONENTS
nav_msgs
pcl_ros
message_generation
nav_msgs
)

add_service_files(
Expand All @@ -67,6 +70,8 @@ catkin_package(
sensor_msgs
geometry_msgs
pcl_ros
nav_msgs
message_runtime
INCLUDE_DIRS
include
LIBRARIES
Expand All @@ -77,6 +82,10 @@ catkin_package(

include_directories(include)
include_directories(SYSTEM ${catkin_INCLUDE_DIRS})
install(DIRECTORY include
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
PATTERN ".svn" EXCLUDE
)

# Not all machines have <cpuid.h> available
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
Expand All @@ -92,13 +101,15 @@ add_library(nanoflann STATIC
src/nano_gicp/nanoflann.cc
)
target_link_libraries(nanoflann ${PCL_LIBRARIES})
install(TARGETS nanoflann LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

# NanoGICP
add_library(nano_gicp STATIC
src/nano_gicp/lsq_registration.cc
src/nano_gicp/nano_gicp.cc
)
target_link_libraries(nano_gicp ${PCL_LIBRARIES} ${OpenMP_LIBS} nanoflann)
install(TARGETS nano_gicp LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

# Odometry Node
add_executable(dlio_odom_node src/dlio/odom_node.cc src/dlio/odom.cc)
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2 changes: 2 additions & 0 deletions package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,8 @@
<depend>geometry_msgs</depend>
<depend>nav_msgs</depend>
<depend>pcl_ros</depend>
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>

<export>
</export>
Expand Down