FAST-LIVO2-ROS2/CMakeLists.txt at main · wenhuiNi/FAST-LIVO2-ROS2 · GitHub

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cmake_minimum_required(VERSION 3.8)
project(fast_livo2)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(image_transport REQUIRED)

find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED)
find_package(OpenCV REQUIRED)
find_package(Sophus REQUIRED)
find_package(Boost REQUIRED COMPONENTS thread)

set(Sophus_LIBRARIES libSophus.so)

# Specific settings for Release build
set(CMAKE_BUILD_TYPE "Release")
add_compile_options(-O3 -march=native -mtune=native -funroll-loops)
add_definitions(-DX86_ARCH)
add_definitions(-DROOT_DIR=\"${CMAKE_CURRENT_SOURCE_DIR}/\")
add_definitions(-DMP_EN -DMP_PROC_NUM=4)

include_directories(
  include
  ${EIGEN3_INCLUDE_DIR}
  ${PCL_INCLUDE_DIRS}
  ${OpenCV_INCLUDE_DIRS}
  ${Sophus_INCLUDE_DIRS}
)

add_library(vio SHARED src/vio.cpp src/frame.cpp src/visual_point.cpp)
ament_target_dependencies(vio rclcpp sensor_msgs geometry_msgs cv_bridge image_transport)
target_link_libraries(vio ${OpenCV_LIBRARIES} ${Sophus_LIBRARIES} ${Boost_LIBRARIES} ${PCL_LIBRARIES})

add_library(lio SHARED src/voxel_map.cpp)
ament_target_dependencies(lio rclcpp sensor_msgs geometry_msgs pcl_conversions)
target_link_libraries(lio ${PCL_LIBRARIES} ${Boost_LIBRARIES})

add_library(pre SHARED src/preprocess.cpp)
ament_target_dependencies(pre rclcpp sensor_msgs geometry_msgs pcl_conversions)
target_link_libraries(pre ${PCL_LIBRARIES})

add_library(imu_proc SHARED src/IMU_Processing.cpp)
ament_target_dependencies(imu_proc rclcpp sensor_msgs geometry_msgs tf2 tf2_ros tf2_geometry_msgs)

add_library(laser_mapping_lib SHARED src/LIVMapper.cpp)
ament_target_dependencies(laser_mapping_lib
  rclcpp sensor_msgs geometry_msgs nav_msgs std_msgs
  tf2 tf2_ros tf2_geometry_msgs pcl_conversions cv_bridge image_transport
)
target_link_libraries(laser_mapping_lib vio lio pre imu_proc ${OpenCV_LIBRARIES} ${PCL_LIBRARIES})

add_executable(fastlivo_mapping src/main.cpp)
ament_target_dependencies(fastlivo_mapping rclcpp)
target_link_libraries(fastlivo_mapping laser_mapping_lib)

install(TARGETS
  fastlivo_mapping
  vio
  lio
  pre
  imu_proc
  laser_mapping_lib
  DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY
  launch
  config
  DESTINATION share/${PROJECT_NAME}
)

ament_package()