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CMakeLists.txt
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cmake_minimum_required(VERSION 3.22)
project(native_adapters)
set(CMAKE_CXX_STANDARD 17)
add_compile_options(-Wall -Wextra -Wpedantic -Wconversion -Wdouble-promotion -Wfloat-equal -Wshadow)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(OpenCV REQUIRED COMPONENTS core)
find_package(PCL 1.12 REQUIRED COMPONENTS common)
find_package(pcl_conversions REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(pcl_msgs REQUIRED)
find_package(dem_msgs REQUIRED)
set(PUB_HEADERS
include/native_adapters/NavMsgOccupancyGrid_CvMat.hpp
include/native_adapters/SensorMsgImage_CvMat.hpp
include/native_adapters/CV.hpp
include/native_adapters/SensorMsgPointCloud2_PCLPointCloud.hpp
include/native_adapters/PCL.hpp
include/native_adapters/PointerDefinesMacro.hpp
include/native_adapters/DigitalElevationMapMsg_CvMat.hpp
)
add_library(pcl_adapters SHARED
src/SensorMsgPointCloud2_PCLPointCloud.cpp
)
set_target_properties(pcl_adapters PROPERTIES PUBLIC_HEADER "${PUB_HEADERS}")
target_include_directories(
pcl_adapters
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>"
PRIVATE
${pcl_conversions_INCLUDE_DIRS}
)
target_link_libraries(pcl_adapters
rclcpp::rclcpp
${std_msgs_TARGETS}
${sensor_msgs_TARGETS}
pcl_common
)
add_library(cv_adapters SHARED
src/NavMsgOccupancyGrid_CvMat.cpp
src/SensorMsgImage_CvMat.cpp
src/DigitalElevationMapMsg_CvMat.cpp
)
set_target_properties(cv_adapters PROPERTIES PUBLIC_HEADER "${PUB_HEADERS}")
target_include_directories(
cv_adapters
PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>"
PRIVATE
${cv_bridge_INCLUDE_DIRS}
)
target_link_libraries(cv_adapters
rclcpp::rclcpp
${std_msgs_TARGETS}
${sensor_msgs_TARGETS}
${nav_msgs_TARGETS}
${dem_msgs_TARGETS}
${cv_bridge_TARGETS}
opencv_core
)
install(
DIRECTORY include/
DESTINATION include
)
install(
TARGETS pcl_adapters
EXPORT export_pcl_adapters
PUBLIC_HEADER DESTINATION include/native_adapters
INCLUDES DESTINATION include
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(
TARGETS cv_adapters
EXPORT export_cv_adapters
PUBLIC_HEADER DESTINATION include/native_adapters
INCLUDES DESTINATION include
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
ament_export_targets(export_pcl_adapters export_cv_adapters HAS_LIBRARY_TARGET)
ament_export_dependencies(
rclcpp
rclcpp_components
std_msgs
sensor_msgs
nav_msgs
pcl_msgs
dem_msgs
cv_bridge
OpenCV
PCL
pcl_conversions
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()