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Copy pathCMakeLists.txt
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CMakeLists.txt
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add_compile_options(-std=c++11)
cmake_minimum_required(VERSION 3.1)
project(gps_amcl)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 11)
endif()
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
find_package(catkin REQUIRED
COMPONENTS
diagnostic_updater
dynamic_reconfigure
geometry_msgs
message_filters
nav_msgs
rosbag
roscpp
sensor_msgs
std_srvs
tf2
tf2_geometry_msgs
tf2_msgs
tf2_ros
)
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED)
# dynamic reconfigure
generate_dynamic_reconfigure_options(
cfg/AMCL.cfg
)
catkin_package(
CATKIN_DEPENDS
diagnostic_updater
dynamic_reconfigure
geometry_msgs
nav_msgs
rosbag
roscpp
sensor_msgs
std_srvs
tf2
tf2_msgs
tf2_ros
INCLUDE_DIRS include
LIBRARIES gps_amcl_sensors gps_amcl_map gps_amcl_pf
)
include_directories(include)
include_directories(${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
include_directories(src/include)
include_directories(
${EIGEN3_INCLUDE_DIRS}
)
check_include_file(unistd.h HAVE_UNISTD_H)
if (HAVE_UNISTD_H)
add_definitions(-DHAVE_UNISTD_H)
endif (HAVE_UNISTD_H)
# Note: Include required in Ubuntu 20 to use check_symbol_exists function.
include(CheckSymbolExists)
check_symbol_exists(drand48 stdlib.h HAVE_DRAND48)
if (HAVE_DRAND48)
add_definitions(-DHAVE_DRAND48)
endif (HAVE_DRAND48)
add_library(gps_amcl_pf
src/amcl/pf/pf.c
src/amcl/pf/pf_kdtree.c
src/amcl/pf/pf_pdf.c
src/amcl/pf/pf_vector.c
src/amcl/pf/eig3.c
src/amcl/pf/pf_draw.c)
add_library(gps_amcl_map
src/amcl/map/map.c
src/amcl/map/map_cspace.cpp
src/amcl/map/map_range.c
src/amcl/map/map_store.c
src/amcl/map/map_draw.c)
add_library(gps_amcl_sensors
src/amcl/sensors/amcl_sensor.cpp
src/amcl/sensors/amcl_odom.cpp
src/amcl/sensors/amcl_laser.cpp)
target_link_libraries(gps_amcl_sensors gps_amcl_map gps_amcl_pf)
add_executable(gps_amcl
src/amcl_node.cpp)
add_dependencies(gps_amcl ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(gps_amcl
gps_amcl_sensors gps_amcl_map gps_amcl_pf
${Boost_LIBRARIES}
${catkin_LIBRARIES}
${EIGEN3_INCLUDE_DIRS}
)
install( TARGETS
gps_amcl
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install( TARGETS
gps_amcl_sensors gps_amcl_map gps_amcl_pf
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)
install(DIRECTORY include/gps_amcl/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
install(DIRECTORY examples/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/examples
)