CMakeLists.txt

cmake_minimum_required(VERSION 3.0.2)
project(spomp)

## Compile as C++17
set(CMAKE_CXX_STANDARD 17)

## Export compile_commands.json for semantic autocompletion
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)

set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} "${CMAKE_SOURCE_DIR}/cmake/")

## 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
  roslib
  rosbag
  cv_bridge
  sensor_msgs
  geometry_msgs
  visualization_msgs
  nav_msgs
  tf2
  tf2_ros
  tf2_geometry_msgs
  image_transport
  message_filters
  actionlib_msgs
  grid_map_core
  grid_map_ros
  grid_map_msgs
  grid_map_comp
  semantics_manager
  message_generation
)

## System dependencies are found with CMake's conventions
find_package(Eigen3 REQUIRED NO_MODULE)
find_package(TBB)
find_package(OpenCV REQUIRED COMPONENTS core imgproc imgcodecs highgui)
find_package(GTSAM)
find_package(mlpack)
# Needed for mlpack
find_package(Armadillo)

## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()

################################################
## Declare ROS messages, services and actions ##
################################################

## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
##   * add a build_depend tag for "message_generation"
##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
##     but can be declared for certainty nonetheless:
##     * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
##   * add "message_generation" and every package in MSG_DEP_SET to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * add "message_runtime" and every package in MSG_DEP_SET to
##     catkin_package(CATKIN_DEPENDS ...)
##   * uncomment the add_*_files sections below as needed
##     and list every .msg/.srv/.action file to be processed
##   * uncomment the generate_messages entry below
##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)

## Generate messages in the 'msg' folder
add_message_files(
  FILES
  LocalReachability.msg
  LocalReachabilityArray.msg
  TraversabilityGraph.msg
  ClaimedGoal.msg
  ClaimedGoalArray.msg
)

## Generate services in the 'srv' folder
# add_service_files(
#   FILES
#   Service1.srv
#   Service2.srv
# )

## Generate actions in the 'action' folder
add_action_files(
  DIRECTORY action
  FILES GlobalNavigate.action
)

## Generate added messages and services with any dependencies listed here
generate_messages(
  DEPENDENCIES
  actionlib_msgs
  geometry_msgs
  sensor_msgs
  std_msgs
)

################################################
## Declare ROS dynamic reconfigure parameters ##
################################################

## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
##   * add "dynamic_reconfigure" to
##     find_package(catkin REQUIRED COMPONENTS ...)
##   * uncomment the "generate_dynamic_reconfigure_options" section below
##     and list every .cfg file to be processed

## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
#   cfg/DynReconf1.cfg
#   cfg/DynReconf2.cfg
# )

###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
  INCLUDE_DIRS include
  LIBRARIES spomp_local spomp_global spomp_mapper
  CATKIN_DEPENDS roscpp rospy actionlib_msgs message_runtime
)

if(TBB_FOUND AND GTSAM_FOUND AND mlpack_FOUND AND Armadillo_FOUND)
###########
## Build ##
###########

## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
  include
  ${catkin_INCLUDE_DIRS}
)

###############################################################
# SPOMP-Local
###############################################################

## Declare a C++ library
add_library(${PROJECT_NAME}_local
  src/local.cpp
  src/timer.cpp
  src/terrain_pano.cpp
  src/pano_planner.cpp
  src/controller.cpp
  src/reachability.cpp
)

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
add_dependencies(${PROJECT_NAME}_local 
  ${${PROJECT_NAME}_EXPORTED_TARGETS} 
  ${catkin_EXPORTED_TARGETS}
)

target_link_libraries(${PROJECT_NAME}_local
  Eigen3::Eigen
  TBB::tbb
  opencv_core
  opencv_imgproc
  opencv_imgcodecs
  opencv_highgui
  ${catkin_LIBRARIES}
)

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_play_local 
  src/play_local.cpp
  src/remote.cpp
  src/local_wrapper.cpp
)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
set_target_properties(${PROJECT_NAME}_play_local PROPERTIES OUTPUT_NAME play_local PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(${PROJECT_NAME}_play_local ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_play_local
  ${PROJECT_NAME}_local
)

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_node_local 
  src/node_local.cpp
  src/remote.cpp
  src/local_wrapper.cpp
)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
set_target_properties(${PROJECT_NAME}_node_local PROPERTIES OUTPUT_NAME node_local PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(${PROJECT_NAME}_node_local ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node_local
  ${PROJECT_NAME}_local
)

###############################################################
# SPOMP-Mapper
###############################################################

## Declare a C++ library
add_library(${PROJECT_NAME}_mapper
  src/mapper.cpp
  src/timer.cpp
  src/pose_graph.cpp
  src/keyframe.cpp
  src/metric_map.cpp
  src/reachability.cpp
)

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
add_dependencies(${PROJECT_NAME}_mapper
  ${${PROJECT_NAME}_EXPORTED_TARGETS} 
  ${catkin_EXPORTED_TARGETS}
)

target_link_libraries(${PROJECT_NAME}_mapper
  Eigen3::Eigen
  TBB::tbb
  opencv_core
  opencv_imgproc
  opencv_imgcodecs
  opencv_highgui
  gtsam
  ${catkin_LIBRARIES}
)

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_node_mapper
  src/node_mapper.cpp
  src/mapper_wrapper.cpp
)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
set_target_properties(${PROJECT_NAME}_node_mapper PROPERTIES OUTPUT_NAME node_mapper PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(${PROJECT_NAME}_node_mapper ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node_mapper
  ${PROJECT_NAME}_mapper
)

###############################################################
# SPOMP-Global
###############################################################

## Declare a C++ library
add_library(${PROJECT_NAME}_global
  src/timer.cpp
  src/trav_graph.cpp
  src/trav_map.cpp
  src/aerial_map.cpp
  src/mlp_model.cpp
  src/waypoint_manager.cpp
  src/global.cpp
  src/reachability.cpp
)

## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
add_dependencies(${PROJECT_NAME}_global
  ${${PROJECT_NAME}_EXPORTED_TARGETS} 
  ${catkin_EXPORTED_TARGETS}
)

target_link_libraries(${PROJECT_NAME}_global
  Eigen3::Eigen
  TBB::tbb
  opencv_core
  opencv_imgproc
  opencv_imgcodecs
  opencv_highgui
  yaml-cpp
  ${ARMADILLO_LIBRARIES}
  ${catkin_LIBRARIES}
)

# MLPACK has a dated Findmlpack.cmake, so we use the older header include method
target_include_directories(${PROJECT_NAME}_global PRIVATE
  ${MLPACK_INCLUDE_DIRECTORIES}
)

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(${PROJECT_NAME}_node_global
  src/node_global.cpp
  src/global_wrapper.cpp
)

## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
set_target_properties(${PROJECT_NAME}_node_global PROPERTIES OUTPUT_NAME node_global PREFIX "")

## Add cmake target dependencies of the executable
## same as for the library above
add_dependencies(${PROJECT_NAME}_node_global ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})

## Specify libraries to link a library or executable target against
target_link_libraries(${PROJECT_NAME}_node_global
  ${PROJECT_NAME}_global
)

else()

message(WARNING "Not all dependencies found, only building messages")

endif()

#############
## Install ##
#############

# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html

## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
#   scripts/my_python_script
#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )

## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
#   RUNTIME DESTINATION ${CATKIN_GLOBAL_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
# )

## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
#   # myfile1
#   # myfile2
#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )

#############
## Testing ##
#############

## Add gtest based cpp test target and link libraries
if(CATKIN_ENABLE_TESTING)
  catkin_add_gtest(${PROJECT_NAME}-test 
    test/test.cpp
    test/test_terrain_pano.cpp
    test/test_pano_planner.cpp
    test/test_controller.cpp
    test/test_pose_graph.cpp
    test/test_trav_graph_map.cpp
    test/test_aerial_map.cpp
    test/test_keyframe.cpp
    test/test_metric_map.cpp
  )
  
  catkin_add_gtest(${PROJECT_NAME}-bench
    test/bench.cpp
    test/test_terrain_pano.cpp
    test/test_pano_planner.cpp
    test/test_controller.cpp
    test/test_keyframe.cpp
  )

  find_package(benchmark)

  if (benchmark_FOUND)
    target_link_libraries(${PROJECT_NAME}-bench
      ${PROJECT_NAME}_local
      ${PROJECT_NAME}_mapper
      benchmark::benchmark
      ${catkin_LIBRARIES}
    )

    target_link_libraries(${PROJECT_NAME}-test 
      ${PROJECT_NAME}_local
      ${PROJECT_NAME}_mapper
      ${PROJECT_NAME}_global
      benchmark::benchmark
      ${catkin_LIBRARIES}
    )
  else()
    message(WARNING "Google bench not found, not building benchmarks")
  endif()
endif()