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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(path_smoother)
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(nav_msgs REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(OpenCV REQUIRED)
# cubic_spline_1d_node
add_executable(cubic_spline_1d_node src/cubic_spline_1d_node.cpp src/cubic_spline_1d_component.cpp)
ament_target_dependencies(cubic_spline_1d_node
rclcpp
OpenCV
)
target_include_directories(cubic_spline_1d_node PUBLIC
include
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(cubic_spline_1d_node
${EIGEN3_LIBRARIES}
)
# cubic_spline_2d_node
add_executable(cubic_spline_2d_node src/cubic_spline_2d_node.cpp src/cubic_spline_1d_component.cpp src/cubic_spline_2d_component.cpp)
ament_target_dependencies(cubic_spline_2d_node
rclcpp
OpenCV
)
target_include_directories(cubic_spline_2d_node PUBLIC
include
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(cubic_spline_2d_node
${EIGEN3_LIBRARIES}
)
# cubic_spline_node
add_executable(cubic_spline_node src/cubic_spline_node.cpp src/cubic_spline_1d_component.cpp src/cubic_spline_2d_component.cpp)
ament_target_dependencies(cubic_spline_node
rclcpp
tf2_geometry_msgs
tf2_ros
nav_msgs
OpenCV
)
target_include_directories(cubic_spline_node PUBLIC
include
${EIGEN3_INCLUDE_DIRS}
)
target_link_libraries(cubic_spline_node
${EIGEN3_LIBRARIES}
)
# path_publisher
add_executable(path_publisher src/path_publisher.cpp)
ament_target_dependencies(path_publisher
rclcpp
nav_msgs
geometry_msgs
)
# Install the executable
install(TARGETS
cubic_spline_1d_node
cubic_spline_2d_node
cubic_spline_node
path_publisher
DESTINATION lib/${PROJECT_NAME}
)
include_directories(
include
${EIGEN3_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
# Install other files
install(DIRECTORY
launch
DESTINATION share/${PROJECT_NAME}
)
install(
DIRECTORY include/
DESTINATION include
)
# Export dependencies
ament_export_dependencies(OpenCV)
# include ディレクトリをエクスポート
#ament_export_include_directories(include)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()