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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(lidar_detection)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(pcl_ros REQUIRED)
find_package(visualization_msgs REQUIRED)
# Test Node
add_executable(test_node src/node_template/node.cpp)
ament_target_dependencies(test_node rclcpp sensor_msgs)
# Preprocessing Node
add_executable(preprocessor_node
src/pcl_preprocessor/node.cpp
src/pcl_preprocessor/filter.cpp)
ament_target_dependencies(preprocessor_node rclcpp sensor_msgs pcl_conversions pcl_ros)
target_include_directories(preprocessor_node PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/pcl_preprocessor)
# Ground Removal Node
add_executable(ground_removal_node
src/pcl_ground_removal/node.cpp
src/pcl_ground_removal/ground_removal.cpp
src/pcl_preprocessor/filter.cpp)
ament_target_dependencies(ground_removal_node rclcpp sensor_msgs pcl_conversions pcl_ros)
target_include_directories(ground_removal_node PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}/src/pcl_preprocessor
${CMAKE_CURRENT_SOURCE_DIR}/src/pcl_ground_removal)
# Cluster Extraction Node
add_executable(cluster_extraction_node
src/pcl_cluster_extraction/node.cpp
src/pcl_cluster_extraction/cluster_extraction.cpp
src/pcl_ground_removal/ground_removal.cpp
src/pcl_preprocessor/filter.cpp)
ament_target_dependencies(cluster_extraction_node rclcpp sensor_msgs pcl_conversions pcl_ros)
target_include_directories(cluster_extraction_node PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}/src/pcl_cluster_extraction
${CMAKE_CURRENT_SOURCE_DIR}/src/pcl_preprocessor
${CMAKE_CURRENT_SOURCE_DIR}/src/pcl_ground_removal)
# Bounding Box Node
add_executable(bounding_box_node
src/pcl_bounding_box/node.cpp
src/pcl_bounding_box/bounding_box.cpp
src/pcl_cluster_extraction/cluster_extraction.cpp
src/pcl_ground_removal/ground_removal.cpp
src/pcl_preprocessor/filter.cpp)
ament_target_dependencies(bounding_box_node rclcpp sensor_msgs pcl_conversions pcl_ros visualization_msgs)
target_include_directories(bounding_box_node PUBLIC
${CMAKE_CURRENT_SOURCE_DIR}/src/pcl_bounding_box
${CMAKE_CURRENT_SOURCE_DIR}/src/pcl_cluster_extraction
${CMAKE_CURRENT_SOURCE_DIR}/src/pcl_preprocessor
${CMAKE_CURRENT_SOURCE_DIR}/src/pcl_ground_removal)
# Make node executable
install(TARGETS
test_node
preprocessor_node
ground_removal_node
cluster_extraction_node
bounding_box_node
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()