wip: Add native cmake build support #15
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Update README for cmake build
jwdinius
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Hi @jwdinius ,
Thanks for this PR. I marked a few sections that we can try and still improve. In general I would try to make the dependency on gtest and threads optional, so that the user doesn't have to worry about that if not installed. Concerning the general structure, I will also look into some more modern cmake (>3.0.0) functions that might help to link the separate packages. In general I want to go a bit into the direction as done here (https://github.com/ethz-asl/kindr), with .cmake files and find scripts.
Anyway, this is good work and I'll start looking into this now as well. We have to still figure out how/if some of these issues can be solved elegantly, if I should merge this.
Best
Alex
| MESSAGE(STATUS "CATKIN_BUILD is " ${CATKIN_BUILD}) | ||
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| if(${CATKIN_BUILD}) | ||
| find_package(catkin REQUIRED) |
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This actually returns a variable CATKIN_FOUND that could be used instead of the CATKIN_BUILD, that way this flag does not have to be set by the user.
| # do native cmake build | ||
| # add gtest and gmock support | ||
| # - see http://www.kaizou.org/2014/11/gtest-cmake/ | ||
| # ------------- BEGIN FROM BLOG ------------------ |
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This whole section for unit testing with gtest seems a bit long, as well as there exist some native cmake functions that should handle that (https://cmake.org/cmake/help/v2.8.3/cmake.html#module:FindGTest). I would prefer to do something like they did here (create and download manually, cmake only checks if folder exists,...):
https://github.com/ethz-asl/kindr
They also nicely use .cmake and find scripts, which I think is a good guidline.
| ${PROJECT_NAME} | ||
| pthread | ||
| ) | ||
| endif() |
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It would be great if the code for cmake build wouldn't have to be repeated for catkin build. But i'm not sure how to handle this in the most flexible way.
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| cmake_minimum_required(VERSION 2.8.3) | |||
| project(ifopt_core) | |||
| option(CATKIN_BUILD "CATKIN_BUILD" ON) | |||
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This could be set from the return value of
find_package(catkin QUIET)`. That way the user doesn't have to worry about it
| enable_testing() | ||
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| # add subdirectories | ||
| add_subdirectory("../ifopt_core" "../../ifopt_core/build") |
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I'm not sure if we want to add the base and the "/build" repos here.
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| $ git clone https://github.com/ethz-adrl/ifopt.git | ||
| $ mkdir build ; cd build | ||
| $ cmake -DCATKIN_BUILD=OFF -DCMAKE_INSTALL_PREFIX=path_to_build_dir .. |
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Best case this is just cmake .. and the system automatically detects that it should build without catkin and where the files should be installed. Possibly its even better to avoid system-wide installation and just keep all files local in the build folder.
It would be nice not to have to rely upon catkin bindings to build ifopt. I have created a process to do just that. I have also updated the README to explain it.
The main thing is the addition of the
CATKIN_BUILDoption. By default,CATKIN_BUILD=ON, meaning that cmake will try to build using catkin; it will look for all of the correct packages etc... The build process with catkin should be just the same as before, but someone should verify via CI or manual test.I was able to build and run using the instructions. Please let me know if you encounter any issues with this PR. Cheers!