generated from wessel/boilerplate
179 lines
5.3 KiB
CMake
179 lines
5.3 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(g2_2025_odometry_pkg)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# external packages
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include(FetchContent)
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FetchContent_Declare(
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tomlplusplus
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GIT_REPOSITORY https://github.com/marzer/tomlplusplus.git
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GIT_TAG v3.4.0
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)
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FetchContent_MakeAvailable(tomlplusplus)
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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# Add executable for position_speed_approximator_node
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add_executable(position_speed_approximator_node
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src/g2_2025_imu_position_approximator_node/nodes/IMUPositionApproximator.cpp
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src/g2_2025_imu_position_approximator_node/Main.cpp
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)
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target_include_directories(position_speed_approximator_node PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/src
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${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_imu_position_approximator_node
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)
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ament_target_dependencies(position_speed_approximator_node
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rclcpp
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sensor_msgs
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geometry_msgs
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)
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add_executable(database_handler_node
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src/g2_2025_database_node/Main.cpp
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src/g2_2025_database_node/nodes/DatabaseHandlerNode.cpp
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src/database/DatabaseManager.cpp
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src/config/ConfigManager.cpp
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)
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target_include_directories(database_handler_node PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/src
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${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_database_node
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)
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target_link_libraries(database_handler_node tomlplusplus::tomlplusplus pqxx pq)
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ament_target_dependencies(database_handler_node
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rclcpp
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sensor_msgs
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geometry_msgs
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)
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install(TARGETS
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position_speed_approximator_node
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database_handler_node
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DESTINATION lib/${PROJECT_NAME}
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)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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add_executable(imu_data_simulator_node
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src/g2_2025_imu_data_simulator_node/nodes/ImuDataSimulator.cpp
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src/g2_2025_imu_data_simulator_node/main.cpp
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src/simulator/Simulator.cpp)
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target_include_directories(imu_data_simulator_node PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/src
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${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_imu_data_simulator_node
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)
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ament_target_dependencies(imu_data_simulator_node rclcpp sensor_msgs geometry_msgs)
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add_executable(wheel_data_simulator_node
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src/g2_2025_wheel_data_simulator_node/nodes/WheelDataSimulator.cpp
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src/g2_2025_wheel_data_simulator_node/main.cpp
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src/simulator/Simulator.cpp)
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target_include_directories(wheel_data_simulator_node PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/src
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${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_wheel_data_simulator_node
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)
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ament_target_dependencies(wheel_data_simulator_node rclcpp std_msgs)
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install(TARGETS
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imu_data_simulator_node
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wheel_data_simulator_node
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DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY launch config
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DESTINATION share/${PROJECT_NAME}/
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)
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# add_executable(odometry_node src/odometry_node.cpp)
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# ament_target_dependencies(odometry_node rclcpp nav_msgs geometry_msgs)
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# install(TARGETS
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# odometry_node
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# DESTINATION lib/${PROJECT_NAME}
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# )
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add_executable(wheel_position_approximator_node
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src/g2_2025_wheel_approximator_node/nodes/WheelPositionApproximator.cpp
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src/g2_2025_wheel_approximator_node/main.cpp
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)
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ament_target_dependencies(wheel_position_approximator_node rclcpp nav_msgs geometry_msgs)
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add_executable(wheel_data_simulator_node
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src/g2_2025_wheel_data_simulator_node/nodes/wheel_data_simulator.cpp
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src/g2_2025_wheel_data_simulator_node/main.cpp
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src/simulator/Simulator.cpp)
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target_include_directories(wheel_data_simulator_node PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/src
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${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_wheel_data_simulator_node
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)
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ament_target_dependencies(wheel_data_simulator_node rclcpp std_msgs)
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install(
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DIRECTORY launch config
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DESTINATION share/${PROJECT_NAME}/
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)
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install(TARGETS
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wheel_position_approximator_node
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wheel_data_simulator_node
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DESTINATION lib/${PROJECT_NAME}
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)
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if(BUILD_TESTING)
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find_package(ament_cmake_gtest REQUIRED)
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# Simulator unit tests
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ament_add_gtest(test_simulator test/TestSimulator.cpp src/simulator/Simulator.cpp)
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target_include_directories(test_simulator PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/src)
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ament_target_dependencies(test_simulator rclcpp)
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# IMU simulator integration tests
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ament_add_gtest(test_imu_simulator test/TestImuSimulator.cpp
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src/g2_2025_imu_data_simulator_node/nodes/ImuDataSimulator.cpp
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src/simulator/Simulator.cpp)
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target_include_directories(test_imu_simulator PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/src
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${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_imu_data_simulator_node)
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ament_target_dependencies(test_imu_simulator rclcpp sensor_msgs geometry_msgs)
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# Wheel simulator integration tests
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ament_add_gtest(test_wheel_simulator test/TestWheelSimulator.cpp
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src/g2_2025_wheel_data_simulator_node/nodes/WheelDataSimulator.cpp
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src/simulator/Simulator.cpp)
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target_include_directories(test_wheel_simulator PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/src
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${CMAKE_CURRENT_SOURCE_DIR}/src/g2_2025_wheel_data_simulator_node)
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ament_target_dependencies(test_wheel_simulator rclcpp std_msgs)
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endif()
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ament_package()
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