mirror of
https://github.com/Livox-SDK/livox_ros_driver.git
synced 2023-04-06 15:49:55 +08:00
feature:support for connencting horizon
This commit is contained in:
Livox-SDK
366
livox_ros_driver/CMakeLists.txt
Executable file → Normal file
366
livox_ros_driver/CMakeLists.txt
Executable file → Normal file
@@ -1,162 +1,50 @@
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cmake_minimum_required(VERSION 2.8.3)
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# Copyright(c) 2019 livoxtech limited.
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project(livox_ros_driver)
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cmake_minimum_required(VERSION 3.0)
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set(PROJECT_LIDAR livox_lidar)
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set(PROJECT_HUB livox_hub)
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set(PROJECT_LIDAR_SRC ./livox_lidar.cpp)
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set(PROJECT_HUB_SRC ./livox_hub.cpp)
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## Compile as C++11, supported in ROS Kinetic and newer
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# add_compile_options(-std=c++11)
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add_definitions(-std=c++11)
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#---------------------------------------------------------------------------------------
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# Start livox_ros_driver project
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#---------------------------------------------------------------------------------------
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include(cmake/version.cmake)
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project(livox_ros_driver VERSION ${LIVOX_ROS_DRIVER_VERSION} LANGUAGES CXX)
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message(STATUS "livox_ros_driver version: ${LIVOX_ROS_DRIVER_VERSION}")
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#---------------------------------------------------------------------------------------
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# find package and the dependecy
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#---------------------------------------------------------------------------------------
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find_package(Boost 1.54 REQUIRED COMPONENTS
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system
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thread
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chrono
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)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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rospy
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std_msgs
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message_generation
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)
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roscpp
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rospy
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sensor_msgs
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std_msgs
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message_generation
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rosbag
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)
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find_package(Boost REQUIRED)
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find_package(Boost REQUIRED COMPONENTS thread)
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## get pointcloud package
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## Find pcl lib
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find_package(PCL REQUIRED)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a run_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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add_message_files(FILES
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CustomPoint.msg
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CustomMsg.msg
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# Message2.msg
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)
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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)
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## Generate added messages and services with any dependencies listed here
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generate_messages(DEPENDENCIES
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std_msgs
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)
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(CATKIN_DEPENDS
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roscpp rospy std_msgs message_runtime
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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include_directories(
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${catkin_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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)
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## Declare a C++ library
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# add_library(${PROJECT_NAME}
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# src/${PROJECT_NAME}/lidar_sdk.cpp
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# )
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## Add cmake target dependencies of the library
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## as an example, code may need to be generated before libraries
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## either from message generation or dynamic reconfigure
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# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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## Declare a C++ executable
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## With catkin_make all packages are built within a single CMake context
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## The recommended prefix ensures that target names across packages don't collide
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##SET(SRC_DIR
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## ./
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##)
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# traverse all source directories and add include dir
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##FOREACH(dir ${SRC_DIR})
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## MESSAGE(STATUS"src_dir: "${dir})
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## include_directories(./include/${dir})
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## include_directories(./${dir})
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## AUX_SOURCE_DIRECTORY(${dir} source_list)
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##ENDFOREACH()
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std_msgs
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)
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find_package(PkgConfig)
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pkg_check_modules(APR apr-1)
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@@ -165,14 +53,32 @@ if (APR_FOUND)
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message(${APR_LIBRARIES})
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endif (APR_FOUND)
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include_directories(
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./
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${APR_INCLUDE_DIRS}
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)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects als o need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also n eed
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catkin_package(CATKIN_DEPENDS
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roscpp rospy std_msgs message_runtime
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)
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## PCL library
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link_directories(${PCL_LIBRARY_DIRS})
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add_definitions(${PCL_DEFINITIONS})
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#---------------------------------------------------------------------------------------
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# Set default build to release
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#---------------------------------------------------------------------------------------
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if(NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose Release or Debug" FORCE)
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endif()
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#---------------------------------------------------------------------------------------
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# Compiler config
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#---------------------------------------------------------------------------------------
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set(CMAKE_CXX_STANDARD 11)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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## make sure the livox_sdk_static library is installed
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find_library(LIVOX_SDK_LIBRARY liblivox_sdk_static.a /usr/local/lib)
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@@ -218,113 +124,83 @@ if((NOT LIVOX_SDK_LIBRARY) OR (NOT EXISTS ${LIVOX_SDK_LIBRARY}))
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${CMAKE_CURRENT_SOURCE_DIR}/Livox-SDK/build/sdk_core
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)
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## add lidar project here
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add_executable(${PROJECT_LIDAR}_node
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${PROJECT_LIDAR_SRC}
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)
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add_dependencies(${PROJECT_LIDAR}_node ${PROJECT_NAME}_generate_messages_cpp)
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target_link_libraries(${PROJECT_LIDAR}_node
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livox_sdk_static.a
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${APR_LIBRARIES}
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${catkin_LIBRARIES}
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${Boost_LIBRARIES}
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-lrt
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)
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## add hub project here
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add_executable(${PROJECT_HUB}_node
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${PROJECT_HUB_SRC}
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)
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add_dependencies(${PROJECT_LIDAR}_node ${PROJECT_NAME}_generate_messages_cpp)
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target_link_libraries(${PROJECT_HUB}_node
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livox_sdk_static.a
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${APR_LIBRARIES}
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${catkin_LIBRARIES}
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${Boost_LIBRARIES}
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-lrt
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)
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else()
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message("find livox sdk library success")
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## add lidar project here
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add_executable(${PROJECT_LIDAR}_node
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${PROJECT_LIDAR_SRC}
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)
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add_dependencies(${PROJECT_LIDAR}_node ${PROJECT_NAME}_generate_messages_cpp)
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target_link_libraries(${PROJECT_LIDAR}_node
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livox_sdk_static.a
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${APR_LIBRARIES}
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${catkin_LIBRARIES}
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${Boost_LIBRARIES}
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-lrt
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)
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## add hub project here
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add_executable(${PROJECT_HUB}_node
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${PROJECT_HUB_SRC}
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)
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add_dependencies(${PROJECT_HUB}_node ${PROJECT_NAME}_generate_messages_cpp)
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target_link_libraries(${PROJECT_HUB}_node
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livox_sdk_static.a
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${APR_LIBRARIES}
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${catkin_LIBRARIES}
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${Boost_LIBRARIES}
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-lrt
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)
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endif()
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#############
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## Install ##
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#############
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## PCL library
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link_directories(${PCL_LIBRARY_DIRS})
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add_definitions(${PCL_DEFINITIONS})
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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#---------------------------------------------------------------------------------------
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# generate excutable and add libraries
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#---------------------------------------------------------------------------------------
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add_executable(${PROJECT_NAME}_node
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""
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)
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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# install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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#---------------------------------------------------------------------------------------
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# precompile macro and compile option
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#---------------------------------------------------------------------------------------
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target_compile_options(${PROJECT_NAME}_node
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PRIVATE $<$<CXX_COMPILER_ID:GNU>:-Wall -Werror>
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)
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## Mark executables and/or libraries for installation
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# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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#---------------------------------------------------------------------------------------
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# add projects that depend on
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#---------------------------------------------------------------------------------------
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add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_generate_messages_cpp)
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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#---------------------------------------------------------------------------------------
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# source file
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#---------------------------------------------------------------------------------------
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target_sources(${PROJECT_NAME}_node
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PRIVATE
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livox_ros_driver/lvx_file.cpp
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livox_ros_driver/ldq.cpp
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livox_ros_driver/lds.cpp
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livox_ros_driver/lds_lvx.cpp
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livox_ros_driver/lds_lidar.cpp
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livox_ros_driver/lds_hub.cpp
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livox_ros_driver/lddc.cpp
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livox_ros_driver/livox_ros_driver.cpp
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timesync/timesync.cpp
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timesync/user_uart/user_uart.cpp
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common/comm/comm_protocol.cpp
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common/comm/sdk_protocol.cpp
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common/comm/gps_protocol.cpp
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)
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#---------------------------------------------------------------------------------------
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# include file
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#---------------------------------------------------------------------------------------
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target_include_directories(${PROJECT_NAME}_node
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PUBLIC
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${catkin_INCLUDE_DIRS}
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${PCL_INCLUDE_DIRS}
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${APR_INCLUDE_DIRS}
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common
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common/rapidjson
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comon/rapdidxml
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common/comm
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timesync
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timesync/user_uart
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livox_ros_driver
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)
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#############
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## Testing ##
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#############
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#---------------------------------------------------------------------------------------
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# link libraries
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#---------------------------------------------------------------------------------------
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target_link_libraries(${PROJECT_NAME}_node
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livox_sdk_static.a
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${Boost_LIBRARY}
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${catkin_LIBRARIES}
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${PCL_LIBRARIES}
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${APR_LIBRARIES}
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)
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#---------------------------------------------------------------------------------------
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# end of CMakeList.txt
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#---------------------------------------------------------------------------------------
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_lidar_sdk.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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Reference in New Issue
Block a user