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Install executable into ROS

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This commit is contained in:
Erwin Boskma
2020-01-29 14:49:22 +01:00
parent d0618208f6
commit bafb6c661b
1 changed files with 21 additions and 10 deletions
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31
livox_ros_driver/CMakeLists.txt
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@@ -13,7 +13,7 @@ message(STATUS "livox_ros_driver version: ${LIVOX_ROS_DRIVER_VERSION}")
#--------------------------------------------------------------------------------------- #---------------------------------------------------------------------------------------
# find package and the dependecy # find package and the dependecy
#--------------------------------------------------------------------------------------- #---------------------------------------------------------------------------------------
find_package(Boost 1.54 REQUIRED COMPONENTS find_package(Boost 1.54 REQUIRED COMPONENTS
system system
thread thread
chrono chrono
@@ -28,10 +28,10 @@ find_package(catkin REQUIRED COMPONENTS
sensor_msgs sensor_msgs
std_msgs std_msgs
message_generation message_generation
rosbag rosbag
) )
## Find pcl lib ## Find pcl lib
find_package(PCL REQUIRED) find_package(PCL REQUIRED)
## Generate messages in the 'msg' folder ## Generate messages in the 'msg' folder
@@ -91,7 +91,7 @@ if((NOT LIVOX_SDK_LIBRARY) OR (NOT EXISTS ${LIVOX_SDK_LIBRARY}))
message("Download Livox-SDK from github and build&install it please!") message("Download Livox-SDK from github and build&install it please!")
message("git clone Livox-SDK from github temporarily, only for ROS distro jenkins build!") message("git clone Livox-SDK from github temporarily, only for ROS distro jenkins build!")
# clone livox sdk source code from github # clone livox sdk source code from github
execute_process(COMMAND rm -rf ${CMAKE_CURRENT_SOURCE_DIR}/Livox-SDK OUTPUT_VARIABLE cmd_res) execute_process(COMMAND rm -rf ${CMAKE_CURRENT_SOURCE_DIR}/Livox-SDK OUTPUT_VARIABLE cmd_res)
message("Try to pull the livox sdk source code from github") message("Try to pull the livox sdk source code from github")
@@ -103,7 +103,7 @@ if((NOT LIVOX_SDK_LIBRARY) OR (NOT EXISTS ${LIVOX_SDK_LIBRARY}))
FOREACH(res ${cmd_res}) FOREACH(res ${cmd_res})
MESSAGE(${res}) MESSAGE(${res})
ENDFOREACH() ENDFOREACH()
execute_process(COMMAND cmake .. WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/Livox-SDK/build OUTPUT_VARIABLE cmd_res) execute_process(COMMAND cmake .. WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/Livox-SDK/build OUTPUT_VARIABLE cmd_res)
FOREACH(res ${cmd_res}) FOREACH(res ${cmd_res})
MESSAGE(${res}) MESSAGE(${res})
@@ -113,12 +113,12 @@ if((NOT LIVOX_SDK_LIBRARY) OR (NOT EXISTS ${LIVOX_SDK_LIBRARY}))
FOREACH(res ${cmd_res}) FOREACH(res ${cmd_res})
MESSAGE(${res}) MESSAGE(${res})
ENDFOREACH() ENDFOREACH()
include_directories( include_directories(
./ ./
${CMAKE_CURRENT_SOURCE_DIR}/Livox-SDK/sdk_core/include ${CMAKE_CURRENT_SOURCE_DIR}/Livox-SDK/sdk_core/include
) )
link_directories( link_directories(
./ ./
${CMAKE_CURRENT_SOURCE_DIR}/Livox-SDK/build/sdk_core ${CMAKE_CURRENT_SOURCE_DIR}/Livox-SDK/build/sdk_core
@@ -128,8 +128,8 @@ else()
message("find livox sdk library success") message("find livox sdk library success")
endif() endif()
## PCL library ## PCL library
link_directories(${PCL_LIBRARY_DIRS}) link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS}) add_definitions(${PCL_DEFINITIONS})
#--------------------------------------------------------------------------------------- #---------------------------------------------------------------------------------------
@@ -191,7 +191,7 @@ target_include_directories(${PROJECT_NAME}_node
#--------------------------------------------------------------------------------------- #---------------------------------------------------------------------------------------
# link libraries # link libraries
#--------------------------------------------------------------------------------------- #---------------------------------------------------------------------------------------
target_link_libraries(${PROJECT_NAME}_node target_link_libraries(${PROJECT_NAME}_node
livox_sdk_static.a livox_sdk_static.a
${Boost_LIBRARY} ${Boost_LIBRARY}
${catkin_LIBRARIES} ${catkin_LIBRARIES}
@@ -199,6 +199,17 @@ target_link_libraries(${PROJECT_NAME}_node
${APR_LIBRARIES} ${APR_LIBRARIES}
) )
#---------------------------------------------------------------------------------------
# Install
#---------------------------------------------------------------------------------------
install(TARGETS ${PROJECT_NAME}_node
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
#--------------------------------------------------------------------------------------- #---------------------------------------------------------------------------------------
# end of CMakeList.txt # end of CMakeList.txt
#--------------------------------------------------------------------------------------- #---------------------------------------------------------------------------------------