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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(loam)
add_definitions(-std=c++11)
set(CMAKE_BUILD_TYPE RelWithDebInfo)
SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -O3 -march=native")
SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -O3 -march=native")
find_package(catkin REQUIRED COMPONENTS
geometry_msgs
nav_msgs
pcl_catkin
sensor_msgs
roscpp
rospy
std_msgs
tf
ecl_time
QUIET
)
find_package(Eigen3 REQUIRED QUIET)
# find_package(PCL REQUIRED QUIET)
include_directories(
include
${catkin_INCLUDE_DIRS}
#${EIGEN3_INCLUDE_DIR}
# ${PCL_INCLUDE_DIRS}
)
catkin_package(
CATKIN_DEPENDS geometry_msgs nav_msgs roscpp rospy std_msgs pcl_catkin ecl_time
DEPENDS EIGEN3 #PCL
INCLUDE_DIRS include
LIBRARIES ${PROJECT_NAME}
)
add_definitions( -march=native )
add_subdirectory(src/lib)
add_executable(multiScanRegistration src/multi_scan_registration_node.cpp)
target_link_libraries(multiScanRegistration ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PROJECT_NAME} )
add_executable(laserOdometry src/laser_odometry_node.cpp)
target_link_libraries(laserOdometry ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PROJECT_NAME} )
add_executable(laserMapping src/laser_mapping_node.cpp)
target_link_libraries(laserMapping ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PROJECT_NAME} )
add_executable(transformMaintenance src/transform_maintenance_node.cpp)
target_link_libraries(transformMaintenance ${catkin_LIBRARIES} ${PCL_LIBRARIES} ${PROJECT_NAME} )
if (CATKIN_ENABLE_TESTING)
find_package(rostest REQUIRED)
# TODO: Download test data
catkin_download_test_data(${PROJECT_NAME}_test_data.tar.gz
https://dl.dropboxusercontent.com/s/y4hn486461tfmpm/velodyne_loam_test_data.tar.gz
MD5 3d5194e6981975588b7a93caebf79ba4)
add_custom_target(${PROJECT_NAME}_test_data
COMMAND ${CMAKE_COMMAND} -E tar -xzf velodyne_loam_test_data.tar.gz
DEPENDS ${PROJECT_NAME}_test_data.tar.gz)
configure_file(tests/loam.test.in
${PROJECT_BINARY_DIR}/test/loam.test)
add_rostest(${PROJECT_BINARY_DIR}/test/loam.test
DEPENDENCIES
${PROJECT_NAME}_test_data
multiScanRegistration
laserOdometry
laserMapping
transformMaintenance)
endif()