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CMakeLists.txt
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cmake_minimum_required(VERSION 3.12)
project(sick_perception)
if(NOT sickperception_VSCODE_CONFIGURE)
set(sickperception_VSCODE_CONFIGURE OFF)
endif()
if(${sickperception_VSCODE_CONFIGURE}) # this is just a dummy configuration so vscode can figure out all the dependencies
message(STATUS "[SICK PERCEPTION]: Configuring for vscode.")
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_sensor_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(PCL REQUIRED COMPONENTS common filters, octree)
find_package(Eigen3 REQUIRED) # not explicitly needed
if(NOT MSVC)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
message(STATUS "[SICK PERCEPTION]: Release build type applied by default for non-MSVC build system")
endif()
endif()
if(NOT sickperception_CXX_STANDARD)
set(sickperception_CXX_STANDARD 17)
endif()
option(sickperception_USE_WPILIB_TESTING "Configure WPILib inclusion and enabling of internal debug features" OFF)
option(LDRP_ENABLE_LOGGING "Enable/disable internal logging altogether" ON)
option(LDRP_ENABLE_DEBUG_LOGGING "Enable/disable DEBUG LEVEL internal logging" ON)
option(LDRP_ENABLE_SAFETY_CHECKS "Enable/disable additional safety checks" ON)
option(LDRP_USE_UESIM_NT_INTERFACE "Enable/disable unreal engine simulation as point source (overrides ROS topic source)" OFF)
option(LDRP_ENABLE_TUNING "Enable live tuning via ROS topics and/or networktables" ON)
option(LDRP_ENABLE_PROFILING "Enable pipeline profiling data via ROS topics and/or networktables" OFF)
if(${sickperception_USE_WPILIB_TESTING})
message(STATUS "[SICK PERCEPTION]: WPILib support is currently disabled")
else()
endif()
if(${LDRP_ENABLE_LOGGING})
list(APPEND ldrp_defines -DLDRP_ENABLE_LOGGING=true)
else()
list(APPEND ldrp_defines -DLDRP_ENABLE_LOGGING=false)
endif()
if(${LDRP_ENABLE_DEBUG_LOGGING})
list(APPEND ldrp_defines -DLDRP_DEBUG_LOGGING=true)
else()
list(APPEND ldrp_defines -DLDRP_DEBUG_LOGGING=false)
endif()
if(${LDRP_ENABLE_SAFETY_CHECKS})
list(APPEND ldrp_defines -DLDRP_SAFETY_CHECKS=true)
else()
list(APPEND ldrp_defines -DLDRP_SAFETY_CHECKS=false)
endif()
if(${LDRP_USE_UESIM_NT_INTERFACE})
list(APPEND ldrp_defines -DLDRP_USE_UESIM=true)
else()
list(APPEND ldrp_defines -DLDRP_USE_UESIM=false)
endif()
if(${LDRP_ENABLE_TUNING})
list(APPEND ldrp_defines -DLDRP_ENABLE_TUNING=true)
else()
list(APPEND ldrp_defines -DLDRP_ENABLE_TUNING=false)
endif()
if(${LDRP_ENABLE_PROFILING})
list(APPEND ldrp_defines -DLDRP_ENABLE_PROFILING=true)
else()
list(APPEND ldrp_defines -DLDRP_ENABLE_PROFILING=false)
endif()
set(CMAKE_CXX_STANDARD ${sickperception_CXX_STANDARD})
set(ldrp_src "${CMAKE_CURRENT_LIST_DIR}/src")
list(APPEND ldrp_sources "${ldrp_src}/main.cpp" "${ldrp_src}/ldrp/perception.cpp")
list(APPEND ldrp_includedirs)
add_executable(${PROJECT_NAME} ${ldrp_sources})
target_include_directories(${PROJECT_NAME}
PRIVATE ${PCL_INCLUDE_DIRS}
PRIVATE ${ldrp_includedirs})
target_link_directories(${PROJECT_NAME}
PRIVATE ${PCL_LIBRARY_DIRS})
target_link_libraries(${PROJECT_NAME}
${PCL_LIBRARIES}) # PRIVATE here causes conflicts with ament_target_dependencies
target_compile_definitions(${PROJECT_NAME}
PRIVATE ${ldrp_defines}
PRIVATE ${PCL_DEFINITIONS})
else()
# ROS stuff
# find_package(rosidl_default_generators REQUIRED) # if we use all standard messages then we don't need this
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_sensor_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(pcl_ros REQUIRED)
# find_package(tf2_msgs REQUIRED)
# Standard deps
find_package(PCL REQUIRED COMPONENTS common filters, octree)
find_package(Eigen3 REQUIRED) # not explicitly needed
# Not sure how install paths work with Colcon :|
# if(${CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT}) # if an install prefix is defined by not the default, that overrides our default >>
# set(CMAKE_INSTALL_PREFIX "${PROJECT_SOURCE_DIR}/install" CACHE PATH "" FORCE)
# message(STATUS "[SICK PERCEPTION]: Install prefix overridden: ${CMAKE_INSTALL_PREFIX}")
# else()
# message(STATUS "[SICK PERCEPTION]: Using predefined install prefix: ${CMAKE_INSTALL_PREFIX}")
# endif()
# Default build type
if(NOT MSVC)
if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
message(STATUS "[SICK PERCEPTION]: Release build type applied by default for non-MSVC build system")
endif()
endif()
# Default CXX version
if(NOT sickperception_CXX_STANDARD)
set(sickperception_CXX_STANDARD 17)
endif()
# Project
option(sickperception_USE_WPILIB_TESTING "Configure WPILib inclusion and enabling of internal debug features" OFF)
option(LDRP_ENABLE_LOGGING "Enable/disable internal logging altogether" ON)
option(LDRP_ENABLE_DEBUG_LOGGING "Enable/disable DEBUG LEVEL internal logging" ON)
option(LDRP_ENABLE_SAFETY_CHECKS "Enable/disable additional safety checks" ON)
option(LDRP_USE_UESIM_NT_INTERFACE "Enable/disable unreal engine simulation as point source (overrides ROS topic source)" OFF)
option(LDRP_ENABLE_TUNING "Enable live tuning via ROS topics and/or networktables" ON)
option(LDRP_ENABLE_PROFILING "Enable pipeline profiling data via ROS topics and/or networktables" OFF)
if(${sickperception_USE_WPILIB_TESTING})
message(STATUS "[SICK PERCEPTION]: WPILib support is currently disabled")
else()
endif()
# message(STATUS # debug all the configured options
# "[SICK PERCEPTION]:\n"
# "this is a multiline message test\n"
# "third line!?"
# )
if(${LDRP_ENABLE_LOGGING})
list(APPEND ldrp_defines -DLDRP_ENABLE_LOGGING=true)
else()
list(APPEND ldrp_defines -DLDRP_ENABLE_LOGGING=false)
endif()
if(${LDRP_ENABLE_DEBUG_LOGGING})
list(APPEND ldrp_defines -DLDRP_DEBUG_LOGGING=true)
else()
list(APPEND ldrp_defines -DLDRP_DEBUG_LOGGING=false)
endif()
if(${LDRP_ENABLE_SAFETY_CHECKS})
list(APPEND ldrp_defines -DLDRP_SAFETY_CHECKS=true)
else()
list(APPEND ldrp_defines -DLDRP_SAFETY_CHECKS=false)
endif()
if(${LDRP_USE_UESIM_NT_INTERFACE})
list(APPEND ldrp_defines -DLDRP_USE_UESIM=true)
else()
list(APPEND ldrp_defines -DLDRP_USE_UESIM=false)
endif()
if(${LDRP_ENABLE_TUNING})
list(APPEND ldrp_defines -DLDRP_ENABLE_TUNING=true)
else()
list(APPEND ldrp_defines -DLDRP_ENABLE_TUNING=false)
endif()
if(${LDRP_ENABLE_PROFILING})
list(APPEND ldrp_defines -DLDRP_ENABLE_PROFILING=true)
else()
list(APPEND ldrp_defines -DLDRP_ENABLE_PROFILING=false)
endif()
set(CMAKE_CXX_STANDARD ${sickperception_CXX_STANDARD})
set(ldrp_src "${CMAKE_CURRENT_LIST_DIR}/src")
list(APPEND ldrp_sources "${ldrp_src}/main.cpp" "${ldrp_src}/ldrp/perception.cpp")
list(APPEND ldrp_includedirs)
add_executable(${PROJECT_NAME} ${ldrp_sources})
target_include_directories(${PROJECT_NAME}
PRIVATE ${PCL_INCLUDE_DIRS}
PRIVATE ${ldrp_includedirs})
target_link_directories(${PROJECT_NAME}
PRIVATE ${PCL_LIBRARY_DIRS})
target_link_libraries(${PROJECT_NAME}
${PCL_LIBRARIES}) # PRIVATE here causes conflicts with ament_target_dependencies
target_compile_definitions(${PROJECT_NAME}
PRIVATE ${ldrp_defines}
PRIVATE ${PCL_DEFINITIONS})
ament_target_dependencies(${PROJECT_NAME}
"rclcpp"
"pcl_conversions"
"pcl_ros"
"tf2_ros"
"tf2_sensor_msgs"
"nav_msgs"
"sensor_msgs"
"geometry_msgs")
install(
TARGETS ${PROJECT_NAME}
DESTINATION lib/${PROJECT_NAME})
install(
DIRECTORY config launch
DESTINATION share/${PROJECT_NAME})
# ament_export_include_directories()
# ament_export_dependencies()
ament_package()
endif()
# ============================================================================
# # include(CMakeDependentOption)
# include(GNUInstallDirs)
# if(POLICY CMP0144)
# # cmake_policy(SET CMP0144 NEW)
# endif()
# if(POLICY CMP0077)
# # cmake_policy(SET CMP0077 NEW)
# set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
# endif()
# set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}" CACHE STRING "" FORCE)
# set(CMAKE_LIBRARY_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}" CACHE STRING "" FORCE)
# set(CMAKE_RUNTIME_OUTPUT_DIRECTORY "${PROJECT_BINARY_DIR}" CACHE STRING "" FORCE)
# if(${CMAKE_INSTALL_PREFIX_INITIALIZED_TO_DEFAULT}) # if an install prefix is defined by not the default, that overrides our default >>
# set(CMAKE_INSTALL_PREFIX "${PROJECT_SOURCE_DIR}/install" CACHE PATH "" FORCE)
# message(STATUS "[SICK PERCEPTION]: Install prefix overridden: ${CMAKE_INSTALL_PREFIX}")
# else()
# message(STATUS "[SICK PERCEPTION]: Using predefined install prefix: ${CMAKE_INSTALL_PREFIX}")
# endif()
# if(NOT MSVC)
# if(NOT CMAKE_BUILD_TYPE)
# set(CMAKE_BUILD_TYPE Release)
# message(STATUS "[SICK PERCEPTION]: Release build type applied by default for non-MSVC build system")
# endif()
# endif()
# # options
# option(sickperception_BUILD_TEST "Build the included test program" ON)
# option(sickperception_USE_WPILIB "Enable the compiling and internal usage of Wpilib (results in a multistage build process)" ON)
# if(${sickperception_USE_WPILIB}) # alternative solution?
# if(NOT DEFINED sickperception_MULTISTAGE_STEP)
# set(sickperception_MULTISTAGE_STEP -1)
# endif()
# else()
# set(sickperception_MULTISTAGE_STEP 1 CACHE INTERNAL "" FORCE)
# endif()
# if(NOT sickperception_CXX_STANDARD)
# set(sickperception_CXX_STANDARD 20)
# endif()
# # automatically deduce build stage
# if(${sickperception_MULTISTAGE_STEP} LESS 0)
# message(STATUS "[SICK PERCEPTION]: Attempting build stage automatic deduction...")
# if(EXISTS "${CMAKE_INSTALL_PREFIX}/cmake/protobuf-config.cmake" OR EXISTS "${CMAKE_INSTALL_PREFIX}/lib/cmake/protobuf/protobuf-config.cmake") # possibly set variables like for wpilib and use find_package() ???
# set(sickperception_MULTISTAGE_STEP 1)
# message(STATUS "[SICK PERCEPTION]: Protobuf install detected: automatically deduced build stage 1 (project).")
# else()
# set(sickperception_MULTISTAGE_STEP 0)
# message(STATUS "[SICK PERCEPTION]: Protobuf install not detected: automatically deduced build stage 0 (prereq).")
# endif()
# endif()
# # run a build stage based on variables
# if(${sickperception_MULTISTAGE_STEP} EQUAL 0)
# message(STATUS "[SICK PERCEPTION]: Build stage 0 (prereq) running!...")
# # protobuf
# set(CMAKE_CXX_STANDARD 20)
# set(protobuf_BUILD_EXAMPLES OFF CACHE BOOL "" FORCE)
# set(protobuf_BUILD_TESTS OFF CACHE BOOL "" FORCE)
# set(protobuf_BUILD_SHARED_LIBS ON CACHE BOOL "" FORCE)
# set(protobuf_BUILD_WITH_ZLIB OFF CACHE BOOL "" FORCE)
# add_subdirectory(submodule-deps/protobuf)
# elseif(${sickperception_MULTISTAGE_STEP} GREATER 0)
# message(STATUS "[SICK PERCEPTION]: Build stage 1 (project) running!...")
# #wpilib
# if(${sickperception_USE_WPILIB})
# if(WIN32)
# set(_PROTOC_EXECUTABLE "protoc.exe")
# else()
# set(_PROTOC_EXECUTABLE "protoc")
# endif()
# add_subdirectory(submodule-deps/eigen)
# # list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/submodule-deps/eigen")
# # set(USE_SYSTEM_EIGEN ON)
# set(__BUILD_SHARED_LIBS ${BUILD_SHARED_LIBS})
# set(BUILD_SHARED_LIBS OFF)
# if(NOT BUILD_SHARED_LIBS AND NOT WIN32)
# add_compile_options(-fPIC)
# endif()
# set(WITH_JAVA OFF CACHE BOOL "" FORCE)
# set(WITH_CSCORE OFF CACHE BOOL "" FORCE)
# set(WITH_WPILIB OFF CACHE BOOL "" FORCE)
# set(WITH_EXAMPLES ON CACHE BOOL "" FORCE)
# set(WITH_TESTS OFF CACHE BOOL "" FORCE)
# set(WITH_GUI OFF CACHE BOOL "" FORCE)
# set(WITH_SIMULATION_MODULES OFF CACHE BOOL "" FORCE)
# set(Protobuf_INCLUDE_DIR "${CMAKE_INSTALL_PREFIX}/include")
# set(Protobuf_PROTOC_EXECUTABLE "${CMAKE_INSTALL_PREFIX}/bin/${_PROTOC_EXECUTABLE}") # make sure that this is still compatible with windows!
# list(APPEND CMAKE_LIBRARY_PATH "${CMAKE_INSTALL_PREFIX}/lib")
# add_subdirectory(submodule-deps/allwpilib)
# set(BUILD_SHARED_LIBS ${__BUILD_SHARED_LIBS})
# endif()
# #sick_scan_xd
# # set(ROS_VERSION 0 CACHE BOOL "Force disable ROS" FORCE)
# # set(LDMRS 0 CACHE BOOL "Force disable LDMRS" FORCE)
# # set(__CMAKE_CXX_STANDARD ${CMAKE_CXX_STANDARD})
# # if(NOT ${CMAKE_CXX_STANDARD} OR ${CMAKE_CXX_STANDARD} GREATER 14)
# # set(CMAKE_CXX_STANDARD 14) # sick_scan_xd fails to build with > C++14
# # endif()
# # add_subdirectory(submodule-deps/sick_scan_xd)
# # message(STATUS "[SICK PERCEPTION]: Building sick_scan_xd with ROS version ${ROS_VERSION}")
# # set(CMAKE_CXX_STANDARD ${__CMAKE_CXX_STANDARD})
# #ldrp shared library
# # set(CMAKE_CXX_STANDARD ${sickperception_CXX_STANDARD})
# add_subdirectory(src/core)
# #main program
# if(${sickperception_BUILD_TEST})
# set(CMAKE_CXX_STANDARD ${sickperception_CXX_STANDARD})
# add_executable(${PROJECT_NAME}_test "src/main.cpp")
# target_link_libraries(${PROJECT_NAME}_test
# PRIVATE ${PROJECT_NAME}_lib
# PRIVATE wpiutil
# PRIVATE wpinet
# PRIVATE wpimath
# PRIVATE ntcore
# )
# if(${BUILD_SHARED_LIBS})
# target_compile_definitions(${PROJECT_NAME}_test
# -D_LDRP_DYNAMIC_INTERFACE
# )
# endif()
# # file(GLOB _lidar_configs "${CMAKE_CURRENT_LIST_DIR}/src/*.launch")
# install(TARGETS ${PROJECT_NAME}_test
# DESTINATION ${CMAKE_INSTALL_BINDIR}
# )
# # install(FILES ${_lidar_configs}
# # DESTINATION ${CMAKE_INSTALL_BINDIR}
# # )
# endif()
# else()
# message(FATAL_ERROR "[SICK PERCEPTION]: Internal branch logic error. Please manually set variable sickperception_MULTISTAGE_STEP to define a build stage.")
# endif()