gremsy_ros2/CMakeLists.txt at payloadsdk_v3 · castacks/gremsy_ros2 · GitHub

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cmake_minimum_required(VERSION 3.8)

project (gremsy_ros2)

set(CMAKE_BUILD_TYPE Debug)

set(VIO 1)

if (MB1)
set(MB1 $ENV{MB1})
message("-- MB1: ${MB1}")
add_definitions(-DMB1=${MB1})
endif(MB1)

if (VIO)
set(VIO $ENV{VIO})
message("-- VIO: ${VIO}")
add_definitions(-DVIO=${VIO})
endif(VIO)

if (ZIO)
set(ZIO $ENV{ZIO})
message("-- ZIO: ${ZIO}")
add_definitions(-DZIO=${ZIO})
endif(ZIO)

if (ORUSL)
set(ORUSL $ENV{ORUSL})
message("-- ORUSL: ${ORUSL}")
add_definitions(-DORUSL=${ORUSL})
endif(ORUSL)

find_package(PkgConfig REQUIRED)
#Use Pkg-config to configure GStreamer
pkg_search_module(GLIB REQUIRED glib-2.0)
pkg_check_modules(GST REQUIRED
                    gstreamer-1.0
                    gstreamer-video-1.0
                    gstreamer-app-1.0
                    )

add_subdirectory(libs)

# examples
add_subdirectory(examples)

# Project subdirectory
if (VIO)
add_subdirectory(tests/demo_project)
add_subdirectory(tests/parse_thermal_stream)
add_subdirectory(tests/ui_demo)
add_subdirectory(tests/parse_klv_stream)
endif(VIO)

if (ORUSL)
add_subdirectory(tests/demo_project)
add_subdirectory(tests/parse_thermal_stream)
endif(ORUSL)

if (MB1)
add_subdirectory(tests/mb1_project)
endif(MB1)

# Add ui_demo for VIO, ORUSL, or MB1 (only once)
if (VIO OR ORUSL OR MB1)
    if (NOT TARGET ui_demo)
        add_subdirectory(tests/ui_demo)
    endif()
endif()

# below ros2/colcon stuff

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(humanflow_msgs REQUIRED)


pkg_check_modules(JSONCPP jsoncpp)
find_package(CURL REQUIRED)

set(PAYLOADSDKLIB_DIR ${CMAKE_CURRENT_SOURCE_DIR}/libs)
include_directories(${PAYLOADSDKLIB_DIR}
                    ${PAYLOADSDKLIB_DIR}/third-party/mavlink/include
                    ${PAYLOADSDKLIB_DIR}/gSDK/src/mavlink/include/mavlink/v2.0
                    ${PAYLOADSDKLIB_DIR}/gSDK/src
                    ${GST_INCLUDE_DIRS}
                    ${CURL_INCLUDE_DIR}
                    )


add_executable(heading_follower src/spirit_heading_follower.cpp ${SOURCES})
ament_target_dependencies(heading_follower rclcpp std_msgs geometry_msgs sensor_msgs nav_msgs tf2 tf2_geometry_msgs humanflow_msgs)

target_link_libraries(heading_follower
                    PayloadSDK
                    ${CMAKE_THREAD_LIBS_INIT}
                    ${GST_LIBRARIES}
                    ${JSONCPP_LIBRARIES}
                    ${CURL_LIBRARIES}
                    stdc++fs
                    )

install(TARGETS heading_follower DESTINATION lib/${PROJECT_NAME})


if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()