-
Notifications
You must be signed in to change notification settings - Fork 0
/
CMakeLists.txt
307 lines (251 loc) · 9.09 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
cmake_minimum_required(VERSION 2.8.3)
project(esiaf_ros)
## Add support for C++11, supported in ROS Kinetic and newer
add_definitions(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED
roscpp
rospy
rosnode
message_generation
std_msgs
)
find_package(Boost REQUIRED
COMPONENTS
python
numpy
thread
system
QUIET)
find_package(PythonLibs 2.7 REQUIRED)
find_package(PythonInterp REQUIRED)
find_package(ALSA REQUIRED)
find_library(SOXR NAMES soxr)
if (NOT SOXR)
message(FATAL_ERROR "soxr library not found")
endif()
find_library(SOX NAMES sox)
if (NOT SOX)
message(FATAL_ERROR "sox library not found")
endif()
## Non-essential libraries:
# ros audio
find_package(audio_common_msgs QUIET)
find_package(audio_capture QUIET)
find_package(audio_play QUIET)
if (audio_common_msgs_FOUND AND audio_capture_FOUND AND audio_play_FOUND)
message("Build with ros audio support.")
set(ROS_AUDIO_SUPPORT 1)
else()
message("audio common not found, build without ros audio support.")
endif()
SET(ROS_BUILD_TYPE Release)
SET(CMAKE_BUILD_TYPE Release)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Set compiler flags
set (CMAKE_CXX_FLAGS "-O2")
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
catkin_python_setup()
## Generate messages in the 'msgs' folder
add_message_files(
DIRECTORY esiaf_ros/msgs
FILES
AudioFormat.msg
AudioTopicFormatConstants.msg
AudioTopicInfo.msg
AugmentedAudio.msg
ChangedConfig.msg
EmotionInfo.msg
EsiafRosMsg.msg
GenderInfo.msg
RecordingTimeStamps.msg
SpeechHypothesis.msg
SpeechInfo.msg
SSLDir.msg
SSLInfo.msg
VADInfo.msg
VoiceIdInfo.msg
)
## Generate services in the 'srvs' folder
ADD_SERVICE_FILES(
DIRECTORY esiaf_ros/srvs
FILES
RegisterNode.srv
)
generate_messages(
DEPENDENCIES
std_msgs # Or other packages containing msgs
)
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS
esiaf_ros/include
esiaf_ros/include/nodes
LIBRARIES ${PROJECT_NAME}
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
${catkin_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}
${PYTHON_INCLUDE_DIRS}
${PythonInterp_INCLUDE_DIRS}
)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(audio_segmenter ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
file(GLOB LIBSOURCES "esiaf_ros/src/*.cpp")
# Declare a C++ library
add_library(esiaf_ros
${LIBSOURCES}
)
add_library(pyesiaf SHARED
esiaf_ros/python/src/python_bindings.cpp
esiaf_ros/python/src/roscpp_initializer.cpp
)
## Declare C++ executables
add_executable(esiaf_grabber esiaf_ros/src/nodes/grabber.cpp esiaf_ros/src/nodes/utils.cpp)
add_executable(esiaf_record esiaf_ros/src/nodes/record.cpp esiaf_ros/src/nodes/utils.cpp)
add_executable(esiaf_play esiaf_ros/src/nodes/play.cpp esiaf_ros/src/nodes/utils.cpp)
add_executable(esiaf_splitter_cpp esiaf_ros/src/nodes/splitter.cpp esiaf_ros/src/nodes/utils.cpp)
## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(esiaf_ros ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library against
target_link_libraries(esiaf_ros
${catkin_LIBRARIES}
${Boost_LIBRARIES}
${PYTHON_LIBRARIES}
soxr
)
set_target_properties(pyesiaf PROPERTIES
PREFIX ""
)
## Specify libraries to link a library against
target_link_libraries(pyesiaf
${catkin_LIBRARIES}
${Boost_LIBRARIES}
${PYTHON_LIBRARIES}
${PythonInterp_LIBRARIES}
esiaf_ros
)
## Specify libraries to link executables against
target_link_libraries(esiaf_grabber
${catkin_LIBRARIES}
asound
esiaf_ros
)
target_link_libraries(esiaf_play
${catkin_LIBRARIES}
asound
esiaf_ros
)
target_link_libraries(esiaf_record
${catkin_LIBRARIES}
asound
esiaf_ros
)
target_link_libraries(esiaf_splitter_cpp
${catkin_LIBRARIES}
esiaf_ros
)
## Specify include directories for the executables, so esiaf_ros.h can be found
target_include_directories(esiaf_grabber PUBLIC esiaf_ros/include/)
target_include_directories(esiaf_play PUBLIC esiaf_ros/include/)
target_include_directories(esiaf_record PUBLIC esiaf_ros/include/)
target_include_directories(esiaf_splitter_cpp PUBLIC esiaf_ros/include/)
#############
## 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 for installation
install(TARGETS esiaf_grabber
esiaf_play
esiaf_record
esiaf_splitter_cpp
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
## Mark libraries for installation
install(TARGETS esiaf_ros
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
install(TARGETS pyesiaf
ARCHIVE DESTINATION ${CATKIN_PACKAGE_PYTHON_DESTINATION}
LIBRARY DESTINATION "lib/python${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}/dist-packages"
)
## Mark cpp header files for installation
install(DIRECTORY ${PROJECT_NAME}/include/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "esiaf_ros.h"
)
## Mark other files for installation (e.g. launch and bag files, etc.)
install(DIRECTORY ${PROJECT_NAME}/launch
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(DIRECTORY ${PROJECT_NAME}/config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)