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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.10.0)
list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/ouster-sdk/cmake)
include(DefaultBuildType)
# ==== Project Name ====
project(ouster_ros)
# ==== Requirements ====
find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED COMPONENTS common)
find_package(tf2_eigen REQUIRED)
find_package(CURL REQUIRED)
find_package(Boost REQUIRED)
find_package(
catkin REQUIRED
COMPONENTS message_generation
std_msgs
sensor_msgs
geometry_msgs
pcl_conversions
roscpp
tf2
tf2_ros
nodelet)
# ==== Options ====
add_compile_options(-std=c++17)
add_compile_options(-Wall -Wextra)
option(CMAKE_POSITION_INDEPENDENT_CODE "Build position independent code." ON)
# ==== Catkin ====
add_message_files(FILES PacketMsg.msg)
add_service_files(FILES GetConfig.srv SetConfig.srv GetMetadata.srv)
generate_messages(DEPENDENCIES std_msgs sensor_msgs geometry_msgs)
set(_ouster_ros_INCLUDE_DIRS
"include;ouster-sdk/ouster_client/include;ouster-sdk/ouster_client/include/optional-lite")
catkin_package(
INCLUDE_DIRS
${_ouster_ros_INCLUDE_DIRS}
LIBRARIES
ouster_ros
CATKIN_DEPENDS
roscpp
message_runtime
std_msgs
sensor_msgs
geometry_msgs
DEPENDS
EIGEN3
)
# ==== Libraries ====
# Build static libraries and bundle them into ouster_ros using the `--whole-archive` flag. This is
# necessary because catkin doesn't interoperate easily with target-based cmake builds. Object
# libraries are the recommended way to do this, but require >=3.13 to propagate usage requirements.
set(_SAVE_BUILD_SHARED_LIBS ${BUILD_SHARED_LIBS})
set(BUILD_SHARED_LIBS OFF)
option(BUILD_VIZ "Enabled for Python build" OFF)
option(BUILD_PCAP "Enabled for Python build" OFF)
find_package(OusterSDK REQUIRED)
set(BUILD_SHARED_LIBS ${_SAVE_BUILD_SHARED_LIBS})
# catkin adds all include dirs to a single variable, don't try to use targets
include_directories(${_ouster_ros_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
# use only MPL-licensed parts of eigen
add_definitions(-DEIGEN_MPL2_ONLY)
add_library(ouster_ros src/os_ros.cpp)
target_link_libraries(ouster_ros PUBLIC ${catkin_LIBRARIES} ouster_build pcl_common PRIVATE
-Wl,--whole-archive ouster_client -Wl,--no-whole-archive)
add_dependencies(ouster_ros ${PROJECT_NAME}_gencpp)
# ==== Executables ====
add_library(${PROJECT_NAME}_nodelets
src/os_sensor_nodelet_base.cpp
src/os_sensor_nodelet.cpp
src/os_replay_nodelet.cpp
src/os_cloud_nodelet.cpp
src/os_image_nodelet.cpp
src/os_driver_nodelet.cpp)
target_link_libraries(${PROJECT_NAME}_nodelets ouster_ros ${catkin_LIBRARIES})
add_dependencies(${PROJECT_NAME}_nodelets ${PROJECT_NAME}_gencpp)
# ==== Test ====
if(CATKIN_ENABLE_TESTING)
catkin_add_gtest(${PROJECT_NAME}_test
src/os_ros.cpp
tests/test_main.cpp
tests/ring_buffer_test.cpp
tests/lock_free_ring_buffer_test.cpp
tests/point_accessor_test.cpp
tests/point_transform_test.cpp
tests/point_cloud_compose_test.cpp
)
target_link_libraries(${PROJECT_NAME}_test ${catkin_LIBRARIES}
ouster_build pcl_common -Wl,--whole-archive ouster_client -Wl,--no-whole-archive)
endif()
# ==== Install ====
install(
TARGETS
${PROJECT_NAME}
${PROJECT_NAME}_nodelets
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(
DIRECTORY include/ouster_ros/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
)
install(
DIRECTORY ouster-sdk/ouster_client/include/ouster/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/../ouster
)
install(
DIRECTORY ouster-sdk/ouster_client/include/optional-lite/nonstd/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}/../ouster/nonstd/
)
install(
FILES
LICENSE
${PROJECT_NAME}_nodelets.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(
DIRECTORY
launch
config
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)