refactor(behavior_velocity_planner): simplify CMakeLists.txt (#855)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>
autowarefoundation · May 9, 2022 · b3a0363 · b3a0363
1 parent e679068
commit b3a0363
Showing 1 changed file with 27 additions and 269 deletions.
diff --git a/planning/behavior_velocity_planner/CMakeLists.txt b/planning/behavior_velocity_planner/CMakeLists.txt
@@ -11,292 +11,50 @@ find_package(Eigen3 REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common)
 find_package(OpenCV REQUIRED)
 
-set(BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES
-  tier4_api_msgs
-  autoware_auto_perception_msgs
-  autoware_auto_planning_msgs
-  tier4_planning_msgs
-  tier4_autoware_utils
-  Boost
-  Eigen3
-  diagnostic_msgs
-  geometry_msgs
-  lanelet2_extension
-  PCL
-  pcl_conversions
-  rclcpp
-  sensor_msgs
-  interpolation
-  tf2
-  tf2_eigen
-  tf2_geometry_msgs
-  tf2_ros
-  vehicle_info_util
-  visualization_msgs
-  nav_msgs
-  grid_map_ros
-)
+set(scene_modules
+  detection_area
+  blind_spot
+  stop_line
+  crosswalk
+  traffic_light
+  intersection
+  no_stopping_area
+  virtual_traffic_light
+  occlusion_spot
+)
+
+foreach(scene_module IN LISTS scene_modules)
+  file(GLOB_RECURSE scene_module_src "src/scene_module/${scene_module}/*")
+  list(APPEND scene_modules_src ${scene_module_src})
+endforeach()
 
-
-# Common
-ament_auto_add_library(scene_module_lib SHARED
+ament_auto_add_library(behavior_velocity_planner SHARED
+  src/node.cpp
+  src/planner_manager.cpp
   src/utilization/path_utilization.cpp
   src/utilization/util.cpp
+  ${scene_modules_src}
 )
 
-target_include_directories(scene_module_lib
+target_include_directories(behavior_velocity_planner
   SYSTEM PUBLIC
     ${BOOST_INCLUDE_DIRS}
-    ${tf2_geometry_msgs_INCLUDE_DIRS}
-)
-
-target_include_directories(scene_module_lib
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-
-target_include_directories(scene_module_lib
-  SYSTEM PUBLIC
     ${PCL_INCLUDE_DIRS}
-)
-
-ament_target_dependencies(scene_module_lib ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
-
-# Scene Module: Stop Line
-ament_auto_add_library(scene_module_stop_line SHARED
-  src/scene_module/stop_line/manager.cpp
-  src/scene_module/stop_line/scene.cpp
-  src/scene_module/stop_line/debug.cpp
-)
-
-target_include_directories(scene_module_stop_line
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-
-ament_target_dependencies(scene_module_stop_line ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
-
-target_link_libraries(scene_module_stop_line scene_module_lib)
-
-# Scene Module: Crosswalk
-ament_auto_add_library(scene_module_crosswalk SHARED
-  src/scene_module/crosswalk/manager.cpp
-  src/scene_module/crosswalk/scene_crosswalk.cpp
-  src/scene_module/crosswalk/scene_walkway.cpp
-  src/scene_module/crosswalk/debug.cpp
-  src/scene_module/crosswalk/util.cpp
-)
-
-target_include_directories(scene_module_crosswalk
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-
-ament_target_dependencies(scene_module_crosswalk ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
-
-target_link_libraries(scene_module_crosswalk scene_module_lib)
-
-# Scene Module: Intersection
-ament_auto_add_library(scene_module_intersection SHARED
-  src/scene_module/intersection/manager.cpp
-  src/scene_module/intersection/scene_intersection.cpp
-  src/scene_module/intersection/scene_merge_from_private_road.cpp
-  src/scene_module/intersection/debug.cpp
-  src/scene_module/intersection/util.cpp
-)
-
-target_include_directories(scene_module_intersection
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-
-ament_target_dependencies(scene_module_intersection ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
-
-target_link_libraries(scene_module_intersection scene_module_lib)
-
-# Scene Module: Traffic Light
-ament_auto_add_library(scene_module_traffic_light SHARED
-  src/scene_module/traffic_light/manager.cpp
-  src/scene_module/traffic_light/scene.cpp
-  src/scene_module/traffic_light/debug.cpp
-)
-
-target_include_directories(scene_module_traffic_light
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-
-ament_target_dependencies(scene_module_traffic_light ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
-
-target_link_libraries(scene_module_traffic_light scene_module_lib)
-
-# Scene Module: Blind Spot
-ament_auto_add_library(scene_module_blind_spot SHARED
-  src/scene_module/blind_spot/manager.cpp
-  src/scene_module/blind_spot/scene.cpp
-  src/scene_module/blind_spot/debug.cpp
-)
-
-target_include_directories(scene_module_blind_spot
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-
-ament_target_dependencies(scene_module_blind_spot ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
-
-target_link_libraries(scene_module_blind_spot scene_module_lib)
-
-# Scene Module: Detection Area
-ament_auto_add_library(scene_module_detection_area SHARED
-  src/scene_module/detection_area/manager.cpp
-  src/scene_module/detection_area/scene.cpp
-  src/scene_module/detection_area/debug.cpp
-)
-
-target_include_directories(scene_module_detection_area
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-
-ament_target_dependencies(scene_module_detection_area ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
-
-target_link_libraries(scene_module_detection_area scene_module_lib)
-
-# Scene Module: No Stopping Area
-ament_auto_add_library(scene_module_no_stopping_area SHARED
-  src/scene_module/no_stopping_area/manager.cpp
-  src/scene_module/no_stopping_area/scene_no_stopping_area.cpp
-  src/scene_module/no_stopping_area/debug.cpp
-)
-
-target_include_directories(scene_module_no_stopping_area
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-
-ament_target_dependencies(scene_module_no_stopping_area ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
-
-target_link_libraries(scene_module_no_stopping_area scene_module_lib)
-
-# Scene Module: Virtual Traffic Light
-ament_auto_add_library(scene_module_virtual_traffic_light SHARED
-  src/scene_module/virtual_traffic_light/manager.cpp
-  src/scene_module/virtual_traffic_light/scene.cpp
-  src/scene_module/virtual_traffic_light/debug.cpp
-)
-
-target_include_directories(scene_module_virtual_traffic_light
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-
-ament_target_dependencies(scene_module_virtual_traffic_light ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
-
-target_link_libraries(scene_module_virtual_traffic_light scene_module_lib)
-
-# SceneModule OcclusionSpot
-# Util
-ament_auto_add_library(occlusion_spot_lib SHARED
-  src/scene_module/occlusion_spot/grid_utils.cpp
-  src/scene_module/occlusion_spot/occlusion_spot_utils.cpp
-  src/scene_module/occlusion_spot/risk_predictive_braking.cpp
-)
-
-target_include_directories(occlusion_spot_lib
-  SYSTEM PUBLIC
-    ${BOOST_INCLUDE_DIRS}
     ${tf2_geometry_msgs_INCLUDE_DIRS}
 )
 
-target_include_directories(occlusion_spot_lib
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-
-ament_target_dependencies(occlusion_spot_lib ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
-
-ament_auto_add_library(scene_module_occlusion_spot SHARED
-  src/scene_module/occlusion_spot/manager.cpp
-  src/scene_module/occlusion_spot/debug.cpp
-  src/scene_module/occlusion_spot/scene_occlusion_spot.cpp
-)
-
-target_include_directories(scene_module_occlusion_spot
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-
-ament_target_dependencies(scene_module_occlusion_spot ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
-
-target_link_libraries(scene_module_occlusion_spot scene_module_lib occlusion_spot_lib)
-
-# Scene Module Manager
-ament_auto_add_library(scene_module_manager SHARED
-  src/planner_manager.cpp
-)
-
-target_include_directories(scene_module_manager
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-
-ament_target_dependencies(scene_module_manager ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
-
-target_link_libraries(scene_module_manager scene_module_lib)
-
-# Node
-ament_auto_add_library(behavior_velocity_planner SHARED
-  src/node.cpp
-)
-
-target_include_directories(behavior_velocity_planner
-  PUBLIC
-    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-    $<INSTALL_INTERFACE:include>
-)
-
-ament_target_dependencies(behavior_velocity_planner ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
-
-target_link_libraries(behavior_velocity_planner
-  scene_module_lib
-  scene_module_stop_line
-  scene_module_crosswalk
-  scene_module_intersection
-  scene_module_traffic_light
-  scene_module_blind_spot
-  scene_module_occlusion_spot
-  scene_module_detection_area
-  scene_module_no_stopping_area
-  scene_module_virtual_traffic_light
-  scene_module_manager
+ament_target_dependencies(behavior_velocity_planner
+  Boost
+  Eigen3
+  PCL
 )
 
-ament_export_dependencies(${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})
-
 rclcpp_components_register_node(behavior_velocity_planner
   PLUGIN "behavior_velocity_planner::BehaviorVelocityPlannerNode"
   EXECUTABLE behavior_velocity_planner_node
 )
 
-
 if(BUILD_TESTING)
-  # utils for test
-  ament_auto_add_library(utilization SHARED
-    src/utilization/util.cpp
-  )
-
   # Gtest for utilization
   ament_add_gtest(utilization-test
     test/src/test_state_machine.cpp
@@ -305,7 +63,7 @@ if(BUILD_TESTING)
   )
   target_link_libraries(utilization-test
     gtest_main
-    utilization
+    behavior_velocity_planner
   )
 
   # Gtest for occlusion spot
@@ -316,7 +74,7 @@ if(BUILD_TESTING)
   )
   target_link_libraries(occlusion_spot-test
     gtest_main
-    scene_module_occlusion_spot
+    behavior_velocity_planner
   )
 endif()