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CMakeLists.txt
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cmake_minimum_required(VERSION 3.0.2)
project(multiple_turtlebots_estm)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs geometry_msgs pcl_ros message_generation)
find_package (Eigen3 3.3 REQUIRED NO_MODULE)
find_package(Ceres REQUIRED)
find_package(PCL 1.8 REQUIRED)
find_package(Sophus REQUIRED)
#find_package(Pangolin REQUIRED)
find_package(Python3 3.8 EXACT COMPONENTS Interpreter Development NumPy REQUIRED)
message("Python_FOUND:${Python_FOUND}")
message("Python_VERSION:${Python_VERSION}")
#message("Python_Development_FOUND:${Python_Development_FOUND}")
#message("Python_LIBRARIES:${Python_LIBRARIES}")
add_message_files(
FILES
SyncMsg.msg
)
generate_messages(
DEPENDENCIES
std_msgs
)
catkin_package(CATKIN_DEPENDS message_runtime)
include_directories(
include
${catkin_INCLUDE_DIRS}
${Python3_INCLUDE_DIRS}
# For Optimization
${CERES_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
# ${Sophus_INCLUDE_DIRS}
# ${Pangolin_INCLUDE_DIRS}
)
# For Optimization
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})
# For Optimization
#catkin_install_python(PROGRAMS scripts/get_local_se2_pose.py src/scenario1.py
catkin_install_python(PROGRAMS src/scenario1.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
catkin_install_python(PROGRAMS src/scenario2.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
catkin_install_python(PROGRAMS src/scenario3.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
catkin_install_python(PROGRAMS src/scenario4.py
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
#catkin_install_python(PROGRAMS scripts/move_turtlebot.py
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
#)
add_executable(relative_measrement src/relative_measrement.cpp)
target_link_libraries(relative_measrement ${catkin_LIBRARIES})
add_executable(my_kf_node src/my_kf_node.cpp)
target_link_libraries(my_kf_node ${catkin_LIBRARIES} Eigen3::Eigen)
add_executable(uwb_sub src/uwb_sub.cpp)
target_link_libraries(uwb_sub ${catkin_LIBRARIES} Eigen3::Eigen)
add_executable(pub_CSV src/pub_CSV.cpp)
target_link_libraries(pub_CSV ${catkin_LIBRARIES} Eigen3::Eigen)
#add_executable(timesync src/timesync.cpp)
#target_link_libraries(timesync ${catkin_LIBRARIES} )
add_executable(my_nls_node src/my_nls_node.cpp)
target_link_libraries(my_nls_node ${catkin_LIBRARIES} ${CERES_LIBRARIES} ${Python3_LIBRARIES})
add_executable(plot_node src/plot_node.cpp)
target_link_libraries(plot_node ${catkin_LIBRARIES} ${Python3_LIBRARIES})
add_executable(my_sliding_nls_node src/my_sliding_nls_node.cpp)
target_link_libraries(my_sliding_nls_node ${catkin_LIBRARIES} ${CERES_LIBRARIES} ${Python3_LIBRARIES})
add_executable(my_sliding_filtering_nls_node src/my_sliding_filtering_nls_node.cpp)
target_link_libraries(my_sliding_filtering_nls_node ${catkin_LIBRARIES} ${CERES_LIBRARIES} ${Python3_LIBRARIES})