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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(openslam_gmapping)
## Find catkin macros and libraries
find_package(catkin REQUIRED)
include(GenerateExportHeader)
set(EXPORT_HEADER_DIR "${CATKIN_DEVEL_PREFIX}/include")
file(MAKE_DIRECTORY "${EXPORT_HEADER_DIR}")
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
catkin_package(
INCLUDE_DIRS
include
${EXPORT_HEADER_DIR}
LIBRARIES utils sensor_base sensor_odometry sensor_range log configfile scanmatcher gridfastslam
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
include
${EXPORT_HEADER_DIR}
)
#SUBDIRS=utils sensor log configfile scanmatcher gridfastslam gui
# utils/
# OBJS= stat.o movement.o
# APPS= autoptr_test #stat_test
# CPPFLAGS+= -DFSLINE
add_library(utils
utils/stat.cpp
utils/movement.cpp)
add_executable(autoptr_test
utils/autoptr_test.cpp)
# sensor/
# SUBDIRS=sensor_base sensor_odometry sensor_range
# sensor/sensor_base/
# OBJS= sensor.o sensorreading.o
add_library(sensor_base
sensor/sensor_base/sensor.cpp
sensor/sensor_base/sensorreading.cpp)
# sensor/sensor_odometry/
# LDFLAGS+= -lsensor_base
# OBJS= odometrysensor.o odometryreading.o
add_library(sensor_odometry
sensor/sensor_odometry/odometrysensor.cpp
sensor/sensor_odometry/odometryreading.cpp)
target_link_libraries(sensor_odometry
sensor_base)
# sensor/sensor_range/
# CPPFLAGS+= -I../
# LDFLAGS+= -lsensor_base
# OBJS= rangesensor.o rangereading.o
add_library(sensor_range
sensor/sensor_range/rangesensor.cpp
sensor/sensor_range/rangereading.cpp)
target_link_libraries(sensor_range
sensor_base)
# log/
# CPPFLAGS+= -I../sensor
# OBJS= configuration.o carmenconfiguration.o sensorlog.o sensorstream.o
# APPS= log_test log_plot scanstudio2carmen rdk2carmen
# LDFLAGS+= -lsensor_range -lsensor_odometry -lsensor_base
add_library(log
log/configuration.cpp
log/carmenconfiguration.cpp
log/sensorlog.cpp
log/sensorstream.cpp)
add_executable(log_test
log/log_test.cpp)
add_executable(log_plot
log/log_plot.cpp)
add_executable(scanstudio2carmen
log/scanstudio2carmen.cpp)
add_executable(rdk2carmen
log/rdk2carmen.cpp)
target_link_libraries(log_test log)
target_link_libraries(log_plot log)
target_link_libraries(scanstudio2carmen log)
target_link_libraries(rdk2carmen log)
target_link_libraries(log
sensor_range sensor_odometry sensor_base)
# configfile/
# OBJS= configfile.o
# APPS= configfile_test
add_library(configfile
configfile/configfile.cpp)
add_executable(configfile_test
configfile/configfile_test.cpp)
target_link_libraries(configfile_test configfile)
# scanmatcher/
# CPPFLAGS+=-I../sensor
# OBJS= smmap.o scanmatcher.o scanmatcherprocessor.o eig3.o
# APPS= scanmatch_test icptest
# LDFLAGS+= -llog -lsensor_range -lsensor_odometry -lsensor_base -lutils
add_library(scanmatcher
scanmatcher/smmap.cpp
scanmatcher/scanmatcher.cpp
scanmatcher/scanmatcherprocessor.cpp
scanmatcher/eig3.cpp)
add_executable(scanmatch_test
scanmatcher/scanmatch_test.cpp)
add_executable(icptest
scanmatcher/icptest.cpp)
target_link_libraries(scanmatch_test scanmatcher)
target_link_libraries(icptest scanmatcher)
target_link_libraries(scanmatcher
log sensor_range sensor_odometry sensor_base utils)
# gridfastslam/
# CPPFLAGS+=-I../sensor
# OBJS= gridslamprocessor_tree.o motionmodel.o gridslamprocessor.o gfsreader.o
# APPS= gfs2log gfs2rec gfs2neff #gfs2stat
# LDFLAGS+= -lscanmatcher -llog -lsensor_range -lsensor_odometry -lsensor_base -lutils
add_library(gridfastslam
gridfastslam/gridslamprocessor_tree.cpp
gridfastslam/motionmodel.cpp
gridfastslam/gridslamprocessor.cpp
gridfastslam/gfsreader.cpp)
add_executable(gfs2log
gridfastslam/gfs2log.cpp)
add_executable(gfs2rec
gridfastslam/gfs2rec.cpp)
add_executable(gfs2neff
gridfastslam/gfs2neff.cpp)
target_link_libraries(gfs2log gridfastslam)
target_link_libraries(gfs2rec gridfastslam)
target_link_libraries(gfs2neff gridfastslam)
target_link_libraries(gridfastslam
scanmatcher log sensor_range sensor_odometry sensor_base utils)
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
install(TARGETS utils sensor_base sensor_odometry sensor_range log configfile scanmatcher gridfastslam
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
)
install(TARGETS autoptr_test log_test log_plot scanstudio2carmen rdk2carmen configfile_test scanmatch_test icptest gfs2log gfs2rec gfs2neff
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark cpp header files for installation
install(DIRECTORY include/gmapping
DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h*"
PATTERN ".svn" EXCLUDE
)
generate_export_header(utils
EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/utils/utils_export.h)
generate_export_header(sensor_base
EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/sensor/sensor_base/sensor_base_export.h)
generate_export_header(sensor_odometry
EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/sensor/sensor_odometry/sensor_odometry_export.h)
generate_export_header(sensor_range
EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/sensor/sensor_range/sensor_range_export.h)
generate_export_header(log
EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/log/log_export.h)
generate_export_header(configfile
EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/configfile/configfile_export.h)
generate_export_header(scanmatcher
EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/scanmatcher/scanmatcher_export.h)
generate_export_header(gridfastslam
EXPORT_FILE_NAME ${EXPORT_HEADER_DIR}/gmapping/gridfastslam/gridfastslam_export.h)
install(DIRECTORY
${EXPORT_HEADER_DIR}/
DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_openslam_gmapping.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)