95 lines
2.7 KiB
CMake
95 lines
2.7 KiB
CMake
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## BEGIN_TUTORIAL
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## This CMakeLists.txt file for rviz_plugin_tutorials builds both the
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## TeleopPanel tutorial and the ImuDisplay tutorial.
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##
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## First start with some standard catkin stuff.
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cmake_minimum_required(VERSION 3.0.2)
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project(librviz_tutorial)
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set(SDK_PATH "./sdk/")
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FILE(GLOB SDK_SRC
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"${SDK_PATH}/src/arch/linux/*.cpp"
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"${SDK_PATH}/src/hal/*.cpp"
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"${SDK_PATH}/src/*.cpp"
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)
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find_package(catkin REQUIRED COMPONENTS
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rviz roscpp std_msgs
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rosconsole sensor_msgs # node.cpp
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)
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catkin_package()
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include_directories(
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${catkin_INCLUDE_DIRS}
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${SDK_PATH}/include
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${SDK_PATH}/src
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)
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link_directories(${catkin_LIBRARY_DIRS})
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## This setting causes Qt's "MOC" generation to happen automatically.
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set(CMAKE_AUTOMOC ON)
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## This plugin includes Qt widgets, so we must include Qt.
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## We'll use the version that rviz used so they are compatible.
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if(rviz_QT_VERSION VERSION_LESS "5")
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message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
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find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui)
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## pull in all required include dirs, define QT_LIBRARIES, etc.
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include(${QT_USE_FILE})
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else()
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message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}")
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find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets)
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## make target_link_libraries(${QT_LIBRARIES}) pull in all required dependencies
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set(QT_LIBRARIES Qt5::Widgets)
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endif()
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## I prefer the Qt signals and slots to avoid defining "emit", "slots",
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## etc because they can conflict with boost signals, so define QT_NO_KEYWORDS here.
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add_definitions(-DQT_NO_KEYWORDS)
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## Here we specify the list of source files.
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## The generated MOC files are included automatically as headers.
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set(SRC_FILES
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src/myviz.cpp
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src/main.cpp
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tools/color.cpp
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)
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## Add the "myviz" executable and specify the list of source files we
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## collected above in ``${SRC_FILES}``.
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add_executable(myviz ${SRC_FILES} )
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add_executable(rplidarNode src/node.cpp ${SDK_SRC}) # 创建启动laser
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target_link_libraries(rplidarNode ${catkin_LIBRARIES})
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## Link the myviz executable with whatever Qt libraries have been defined by
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## the ``find_package(Qt4 ...)`` line above, or by the
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## ``set(QT_LIBRARIES Qt5::Widgets)``, and with whatever libraries
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## catkin has included.
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target_link_libraries(myviz ${QT_LIBRARIES} ${catkin_LIBRARIES})
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## END_TUTORIAL
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## Install
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install(TARGETS myviz DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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install(TARGETS rplidarNode
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(DIRECTORY launch sdk
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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USE_SOURCE_PERMISSIONS
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)
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