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CMakeLists.txt
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CMakeLists.txt
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### SET CMAKE POLICIES ###
cmake_minimum_required(VERSION 3.10...3.17)
if(${CMAKE_VERSION} VERSION_LESS 3.12)
cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
endif()
if (NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(${CMAKE_VERSION} VERSION_EQUAL "3.11.0" OR ${CMAKE_VERSION} VERSION_GREATER "3.11.0")
cmake_policy(SET CMP0072 NEW)
endif()
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
### END CMAKE POLICIES ###
project(mapviz_plugins
LANGUAGES CXX)
# Ros Packages
find_package(ament_cmake REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(gps_msgs REQUIRED)
find_package(image_transport REQUIRED)
find_package(map_msgs REQUIRED)
find_package(mapviz REQUIRED)
find_package(marti_common_msgs REQUIRED)
find_package(marti_nav_msgs REQUIRED)
find_package(marti_sensor_msgs REQUIRED)
find_package(marti_visualization_msgs REQUIRED)
# find_package(move_base_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(stereo_msgs REQUIRED)
find_package(swri_image_util REQUIRED)
find_package(swri_math_util REQUIRED)
find_package(swri_route_util REQUIRED)
find_package(swri_transform_util REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(visualization_msgs REQUIRED)
### QT ###
find_package(Qt5Core REQUIRED)
find_package(Qt5Gui REQUIRED)
find_package(Qt5OpenGL REQUIRED)
find_package(Qt5Widgets REQUIRED)
add_definitions(-DWFlags=WindowFlags)
find_package(OpenCV COMPONENTS core imgproc REQUIRED)
### OpenGL ###
find_package(OpenGL REQUIRED)
find_package(GLUT REQUIRED)
# Fix conflict between Boost signals used by tf and QT signals used by mapviz
add_definitions(-DQT_NO_KEYWORDS)
# Need to include the current dir to include the results of building Qt UI files
set(CMAKE_INCLUDE_CURRENT_DIR ON)
set(UI_FILES
ui/attitude_indicator_config.ui
ui/coordinate_picker_config.ui
ui/disparity_config.ui
ui/draw_polygon_config.ui
ui/float_config.ui
ui/gps_config.ui
ui/grid_config.ui
ui/image_config.ui
ui/laserscan_config.ui
ui/marker_config.ui
ui/measuring_config.ui
# ui/move_base_config.ui
ui/navsat_config.ui
ui/occupancy_grid_config.ui
ui/odometry_config.ui
ui/path_config.ui
ui/plan_route_config.ui
ui/point_click_publisher_config.ui
ui/pointcloud2_config.ui
ui/pose_config.ui
ui/robot_image_config.ui
ui/route_config.ui
ui/string_config.ui
ui/textured_marker_config.ui
ui/tf_frame_config.ui
ui/topic_select.ui
)
set(SRC_FILES
src/attitude_indicator_plugin.cpp
src/canvas_click_filter.cpp
src/coordinate_picker_plugin.cpp
src/disparity_plugin.cpp
src/draw_polygon_plugin.cpp
src/float_plugin.cpp
src/gps_plugin.cpp
src/grid_plugin.cpp
src/image_plugin.cpp
src/laserscan_plugin.cpp
src/marker_plugin.cpp
src/measuring_plugin.cpp
# src/move_base_plugin.cpp
src/navsat_plugin.cpp
src/occupancy_grid_plugin.cpp
src/odometry_plugin.cpp
src/path_plugin.cpp
src/placeable_window_proxy.cpp
src/plan_route_plugin.cpp
src/point_click_publisher_plugin.cpp
src/pointcloud2_plugin.cpp
src/point_drawing_plugin.cpp
src/pose_plugin.cpp
src/robot_image_plugin.cpp
src/route_plugin.cpp
src/string_plugin.cpp
src/textured_marker_plugin.cpp
src/tf_frame_plugin.cpp
)
set(HEADER_FILES
include/${PROJECT_NAME}/attitude_indicator_plugin.h
include/${PROJECT_NAME}/canvas_click_filter.h
include/${PROJECT_NAME}/coordinate_picker_plugin.h
include/${PROJECT_NAME}/disparity_plugin.h
include/${PROJECT_NAME}/draw_polygon_plugin.h
include/${PROJECT_NAME}/float_plugin.h
include/${PROJECT_NAME}/gps_plugin.h
include/${PROJECT_NAME}/grid_plugin.h
include/${PROJECT_NAME}/image_plugin.h
include/${PROJECT_NAME}/laserscan_plugin.h
include/${PROJECT_NAME}/marker_plugin.h
include/${PROJECT_NAME}/measuring_plugin.h
# include/${PROJECT_NAME}/move_base_plugin.h
include/${PROJECT_NAME}/navsat_plugin.h
include/${PROJECT_NAME}/occupancy_grid_plugin.h
include/${PROJECT_NAME}/odometry_plugin.h
include/${PROJECT_NAME}/path_plugin.h
include/${PROJECT_NAME}/placeable_window_proxy.h
include/${PROJECT_NAME}/plan_route_plugin.h
include/${PROJECT_NAME}/point_click_publisher_plugin.h
include/${PROJECT_NAME}/pointcloud2_plugin.h
include/${PROJECT_NAME}/point_drawing_plugin.h
include/${PROJECT_NAME}/pose_plugin.h
include/${PROJECT_NAME}/robot_image_plugin.h
include/${PROJECT_NAME}/route_plugin.h
include/${PROJECT_NAME}/string_plugin.h
include/${PROJECT_NAME}/textured_marker_plugin.h
include/${PROJECT_NAME}/tf_frame_plugin.h
)
qt5_wrap_ui(UI_SRC_FILES ${UI_FILES})
qt5_wrap_cpp(MOC_FILES ${HEADER_FILES})
add_library(${PROJECT_NAME} SHARED
${MOC_FILES}
${SRC_FILES}
${UI_SRC_FILES}
)
target_include_directories(${PROJECT_NAME}
PUBLIC
include)
target_compile_definitions(${PROJECT_NAME}
PUBLIC
"PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
# Iron and later switched some cv_bridge files to .hpp from .h
if ("$ENV{ROS_DISTRO}" STRLESS "iron")
target_compile_definitions(${PROJECT_NAME} PRIVATE "-DUSE_CVBRIDGE_H_FILES")
endif()
ament_target_dependencies(${PROJECT_NAME}
ament_cmake
ament_index_cpp
cv_bridge
gps_msgs
image_transport
map_msgs
mapviz
marti_common_msgs
marti_nav_msgs
marti_sensor_msgs
marti_visualization_msgs
# move_base_msgs
nav_msgs
pluginlib
rclcpp
sensor_msgs
std_msgs
stereo_msgs
swri_image_util
swri_math_util
swri_route_util
swri_transform_util
tf2
tf2_geometry_msgs
tf2_ros
visualization_msgs
)
target_link_libraries(${PROJECT_NAME}
Qt5::Core
Qt5::Gui
Qt5::OpenGL
Qt5::Widgets
${GLU_LIBRARY}
${GLUT_LIBRARY}
opencv_core
opencv_imgproc
opencv_highgui
)
### Install the plugins ###
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include/${PROJECT_NAME}
FILES_MATCHING PATTERN "*.h"
)
install(TARGETS ${PROJECT_NAME}
RUNTIME DESTINATION lib/${PROJECT_NAME}
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
)
pluginlib_export_plugin_description_file(mapviz mapviz_plugins.xml)
ament_export_dependencies(${RUNTIME_DEPS} Qt)
ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})
ament_package()