forked from cra-ros-pkg/robot_localization
-
Notifications
You must be signed in to change notification settings - Fork 0
/
CMakeLists.txt
354 lines (305 loc) · 13 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
cmake_minimum_required(VERSION 3.0.2)
project(robot_localization)
if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
message("${PROJECT_NAME}: You did not request a specific build type: selecting 'RelWithDebInfo'.")
set(CMAKE_BUILD_TYPE RelWithDebInfo)
endif()
find_package(catkin REQUIRED COMPONENTS
angles
diagnostic_msgs
diagnostic_updater
eigen_conversions
geographic_msgs
geometry_msgs
message_filters
message_generation
nav_msgs
nodelet
roscpp
roslint
sensor_msgs
std_msgs
std_srvs
tf2
tf2_geometry_msgs
tf2_ros)
find_package(PkgConfig REQUIRED)
pkg_check_modules(YAML_CPP yaml-cpp)
if(NOT YAML_CPP_FOUND)
find_package(yaml-cpp REQUIRED)
endif()
# Geographiclib installs FindGeographicLib.cmake to this non-standard location
set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "/usr/share/cmake/geographiclib/")
find_package(GeographicLib REQUIRED)
# Attempt to find Eigen using its own CMake module.
# If that fails, fall back to cmake_modules package.
find_package(Eigen3)
set(EIGEN_PACKAGE EIGEN3)
if(NOT EIGEN3_FOUND)
find_package(cmake_modules REQUIRED)
find_package(Eigen REQUIRED)
set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})
set(EIGEN_PACKAGE Eigen)
endif()
if(NOT MSVC)
set_directory_properties(PROPERTIES COMPILE_OPTIONS "-Wall;-Werror")
endif()
add_definitions(-DEIGEN_NO_DEBUG -DEIGEN_MPL2_ONLY)
set(ROSLINT_CPP_OPTS "--filter=-build/c++11,-runtime/references")
roslint_cpp()
###################################
## catkin specific configuration ##
###################################
add_service_files(
FILES
GetState.srv
SetDatum.srv
SetPose.srv
SetUTMZone.srv
ToggleFilterProcessing.srv
FromLL.srv
ToLL.srv
)
generate_messages(
DEPENDENCIES
geographic_msgs
geometry_msgs
std_msgs
)
catkin_package(
INCLUDE_DIRS
include
LIBRARIES
ekf
ekf_localization_nodelet
filter_base
filter_utilities
navsat_transform
navsat_transform_nodelet
ros_filter
ros_filter_utilities
robot_localization_estimator
ros_robot_localization_listener
ukf
ukf_localization_nodelet
CATKIN_DEPENDS
angles
cmake_modules
diagnostic_msgs
diagnostic_updater
eigen_conversions
geographic_msgs
geometry_msgs
message_filters
message_runtime
nav_msgs
roscpp
sensor_msgs
std_msgs
std_srvs
tf2
tf2_geometry_msgs
tf2_ros
DEPENDS
${EIGEN_PACKAGE}
GeographicLib
YAML_CPP
)
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${YAML_CPP_INCLUDE_DIRS})
link_directories(${YAML_CPP_LIBRARY_DIRS})
# Library definitions
add_library(filter_utilities src/filter_utilities.cpp)
add_library(filter_base src/filter_base.cpp)
add_library(ekf src/ekf.cpp)
add_library(ukf src/ukf.cpp)
add_library(robot_localization_estimator src/robot_localization_estimator.cpp)
add_library(ros_robot_localization_listener src/ros_robot_localization_listener.cpp)
add_library(ros_filter_utilities src/ros_filter_utilities.cpp)
add_library(ros_filter src/ros_filter.cpp)
add_library(navsat_transform src/navsat_transform.cpp)
add_library(ekf_localization_nodelet src/ekf_localization_nodelet.cpp)
add_library(ukf_localization_nodelet src/ukf_localization_nodelet.cpp)
add_library(navsat_transform_nodelet src/navsat_transform_nodelet.cpp)
# Executables
add_executable(ekf_localization_node src/ekf_localization_node.cpp)
add_executable(ukf_localization_node src/ukf_localization_node.cpp)
add_executable(navsat_transform_node src/navsat_transform_node.cpp)
add_executable(robot_localization_listener_node src/robot_localization_listener_node.cpp)
# Dependencies
add_dependencies(filter_base ${PROJECT_NAME}_gencpp)
add_dependencies(navsat_transform ${PROJECT_NAME}_gencpp)
add_dependencies(robot_localization_listener_node ${PROJECT_NAME}_gencpp)
# Linking
target_link_libraries(ros_filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES})
target_link_libraries(filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES})
target_link_libraries(filter_base filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES})
target_link_libraries(ekf filter_base ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES})
target_link_libraries(ukf filter_base ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES})
target_link_libraries(ros_filter ekf ukf ros_filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES})
target_link_libraries(robot_localization_estimator filter_utilities filter_base ekf ukf ${EIGEN3_LIBRARIES})
target_link_libraries(ros_robot_localization_listener robot_localization_estimator ros_filter_utilities
${catkin_LIBRARIES} ${EIGEN3_LIBRARIES} ${YAML_CPP_LIBRARIES})
target_link_libraries(robot_localization_listener_node ros_robot_localization_listener ${catkin_LIBRARIES})
target_link_libraries(ekf_localization_node ros_filter ${catkin_LIBRARIES})
target_link_libraries(ekf_localization_nodelet ros_filter ${catkin_LIBRARIES})
target_link_libraries(ukf_localization_node ros_filter ${catkin_LIBRARIES})
target_link_libraries(ukf_localization_nodelet ros_filter ${catkin_LIBRARIES})
target_link_libraries(navsat_transform filter_utilities ros_filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES} ${GeographicLib_LIBRARIES})
target_link_libraries(navsat_transform_node navsat_transform ${catkin_LIBRARIES} ${GeographicLib_LIBRARIES})
target_link_libraries(navsat_transform_nodelet navsat_transform ${catkin_LIBRARIES} ${GeographicLib_LIBRARIES})
#############
## Install ##
#############
## Mark executables and/or libraries for installation
install(TARGETS
ekf
ekf_localization_nodelet
filter_base
filter_utilities
navsat_transform
navsat_transform_nodelet
ros_filter
ros_filter_utilities
robot_localization_estimator
ros_robot_localization_listener
ukf
ukf_localization_nodelet
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
install(TARGETS
ekf_localization_node
navsat_transform_node
robot_localization_listener_node
ukf_localization_node
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE)
install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
FILES_MATCHING PATTERN "*.launch")
install(DIRECTORY params/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/params)
install(FILES
LICENSE
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(FILES nodelet_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
#############
## Testing ##
#############
if (CATKIN_ENABLE_TESTING)
roslint_add_test()
# Not really necessary, but it will cause the build to fail if it's
# missing, rather than failing once the tests are being executed
find_package(rosbag REQUIRED)
find_package(rostest REQUIRED)
#### FILTER BASE TESTS ####
catkin_add_gtest(filter_base-test test/test_filter_base.cpp)
target_link_libraries(filter_base-test filter_base ${catkin_LIBRARIES})
# This test uses ekf_localization node for convenience.
add_rostest_gtest(test_filter_base_diagnostics_timestamps
test/test_filter_base_diagnostics_timestamps.test
test/test_filter_base_diagnostics_timestamps.cpp)
target_link_libraries(test_filter_base_diagnostics_timestamps ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_dependencies(test_filter_base_diagnostics_timestamps ekf_localization_node)
#### EKF TESTS #####
add_rostest_gtest(test_ekf
test/test_ekf.test
test/test_ekf.cpp)
target_link_libraries(test_ekf ros_filter ekf ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_rostest_gtest(test_ekf_localization_node_interfaces
test/test_ekf_localization_node_interfaces.test
test/test_ekf_localization_node_interfaces.cpp)
target_link_libraries(test_ekf_localization_node_interfaces ros_filter ekf ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_dependencies(test_ekf_localization_node_interfaces ekf_localization_node)
add_rostest_gtest(test_ekf_localization_node_bag1
test/test_ekf_localization_node_bag1.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ekf_localization_node_bag1 ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_dependencies(test_ekf_localization_node_bag1 ekf_localization_node)
add_rostest_gtest(test_ekf_localization_node_bag2
test/test_ekf_localization_node_bag2.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ekf_localization_node_bag2 ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_dependencies(test_ekf_localization_node_bag2 ekf_localization_node)
add_rostest_gtest(test_ekf_localization_node_bag3
test/test_ekf_localization_node_bag3.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ekf_localization_node_bag3 ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_dependencies(test_ekf_localization_node_bag3 ekf_localization_node)
add_rostest_gtest(test_ekf_localization_nodelet_bag1
test/test_ekf_localization_nodelet_bag1.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ekf_localization_nodelet_bag1 ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_dependencies(test_ekf_localization_nodelet_bag1 ekf_localization_nodelet)
#### UKF TESTS #####
add_rostest_gtest(test_ukf
test/test_ukf.test
test/test_ukf.cpp)
target_link_libraries(test_ukf ros_filter ukf ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_rostest_gtest(test_ukf_localization_node_interfaces
test/test_ukf_localization_node_interfaces.test
test/test_ukf_localization_node_interfaces.cpp)
target_link_libraries(test_ukf_localization_node_interfaces ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_dependencies(test_ukf_localization_node_interfaces ukf_localization_node)
add_rostest_gtest(test_ukf_localization_node_bag1
test/test_ukf_localization_node_bag1.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ukf_localization_node_bag1 ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_dependencies(test_ukf_localization_node_bag1 ukf_localization_node)
add_rostest_gtest(test_ukf_localization_node_bag2
test/test_ukf_localization_node_bag2.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ukf_localization_node_bag2 ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_dependencies(test_ukf_localization_node_bag2 ukf_localization_node)
add_rostest_gtest(test_ukf_localization_node_bag3
test/test_ukf_localization_node_bag3.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ukf_localization_node_bag3 ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_dependencies(test_ukf_localization_node_bag3 ukf_localization_node)
add_rostest_gtest(test_ukf_localization_nodelet_bag1
test/test_ukf_localization_nodelet_bag1.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ukf_localization_nodelet_bag1 ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_dependencies(test_ukf_localization_nodelet_bag1 ukf_localization_nodelet)
#### RLE/RLL TESTS #####
add_rostest_gtest(test_robot_localization_estimator
test/test_robot_localization_estimator.test
test/test_robot_localization_estimator.cpp)
target_link_libraries(test_robot_localization_estimator
robot_localization_estimator
${catkin_LIBRARIES}
${rostest_LIBRARIES})
add_executable(test_ros_robot_localization_listener_publisher test/test_ros_robot_localization_listener_publisher.cpp)
target_link_libraries(test_ros_robot_localization_listener_publisher
${catkin_LIBRARIES})
add_rostest_gtest(test_ros_robot_localization_listener
test/test_ros_robot_localization_listener.test
test/test_ros_robot_localization_listener.cpp)
target_link_libraries(test_ros_robot_localization_listener
ros_robot_localization_listener
${catkin_LIBRARIES}
${rostest_LIBRARIES})
#### NAVSAT CONVERSION TESTS ####
catkin_add_gtest(navsat_conversions-test test/test_navsat_conversions.cpp)
target_link_libraries(navsat_conversions-test navsat_transform ${catkin_LIBRARIES})
#### NAVSAT TRANSFORM TESTS ####
add_rostest_gtest(test_navsat_transform
test/test_navsat_transform.test
test/test_navsat_transform.cpp)
target_link_libraries(test_navsat_transform ${catkin_LIBRARIES} ${rostest_LIBRARIES})
endif()