86 lines
2.3 KiB
CMake
86 lines
2.3 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(rbs_perception)
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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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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(ament_cmake_python REQUIRED)
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find_package(rclpy REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(image_transport REQUIRED)
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find_package(cv_bridge REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(rbs_skill_interfaces REQUIRED)
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# find_package(opencv2 REQUIRED)
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find_package(PCL 1.12 REQUIRED)
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find_package(pcl_conversions REQUIRED)
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find_package(pcl_ros REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(tf2_eigen REQUIRED)
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find_package(tf2_msgs REQUIRED)
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find_package(moveit_msgs REQUIRED)
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# find_package(grasp_msgs REQUIRED)
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find_package(visualization_msgs REQUIRED)
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# Install Python modules
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ament_python_install_package(${PROJECT_NAME})
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# Install Python executables
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install(PROGRAMS
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scripts/detection_lifecycle.py
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scripts/detection_service.py
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scripts/grasp_marker_publish.py
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scripts/pose_estimation.py
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scripts/pose_estimation_lifecycle.py
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scripts/rbs_interface.py
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DESTINATION lib/${PROJECT_NAME}
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)
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add_executable(pc_filter src/perception_filter.cpp)
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ament_target_dependencies(pc_filter
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rclcpp
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pcl_conversions
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tf2_ros
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tf2_eigen
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tf2_msgs
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geometry_msgs
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sensor_msgs
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PCL
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pcl_ros
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)
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target_include_directories(pc_filter PRIVATE
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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target_compile_definitions(pc_filter
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PRIVATE "PC_FILTER_CPP_BUILDING_DLL")
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target_link_libraries(pc_filter ${PCL_LIBRARIES})
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install(
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DIRECTORY config launch
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DESTINATION share/${PROJECT_NAME}
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)
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install(TARGETS
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pc_filter
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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_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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