-
Notifications
You must be signed in to change notification settings - Fork 4
/
CMakeLists.txt
executable file
·362 lines (305 loc) · 14.5 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
355
356
357
358
cmake_minimum_required(VERSION 2.8.3)
project(bz_robot)
#SET(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#SET(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
#将git当前版本信息编译到可执行文件中
exec_program(
"git"
${CMAKE_CURRENT_SOURCE_DIR}
ARGS "log --format='[sha1]:%h [author]:%cn [time]:%ci [commit]:%s [branch]:%d' -1"
OUTPUT_VARIABLE VERSION_SHA1 )
string(REGEX REPLACE "\#"
"$" VERSION_SHA1
${VERSION_SHA1})
add_definitions( -DGIT_SHA1="${VERSION_SHA1}" )
## C++11
include(CheckCXXCompilerFlag)
CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
if(COMPILER_SUPPORTS_CXX11)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall")
elseif(COMPILER_SUPPORTS_CXX0X)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
else()
message(STATUS "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
endif()
#FIND_PACKAGE(Boost)
#IF (Boost_FOUND)
# INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIR})
# #ADD_DEFINITIONS( "-DHAS_BOOST" )
#ENDIF()
# for print call trace by zhou
add_compile_options(-rdynamic)
add_compile_options(-g -lmcheck)
#add_compile_options(-fopenmp)
#add_compile_options(-fpermissive)
add_compile_options(-lstdc++)
add_compile_options(-fPIC)
#add_compile_options(-O0)
#add_compile_options(-save-temps)
#test link nanomsg
#add_compile_options(-lnanomsg)
#add_compile_options('--copy-dt-needed-entries')
SET(CMAKE_BUILD_TYPE "Debug")
#SET(CMAKE_CXX_FLAGS_DEBUG "$ENV{CXXFLAGS} -O0 -Wall -g -ggdb")
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O0")
set(CMAKE_PREFIX_PATH ${CMAKE_PREFIX_PATH} /opt/ros/melodic/ /usr)
# 打印出编译和链接阶段的耗时情况
# set_property(GLOBAL PROPERTY RULE_LAUNCH_COMPILE "${CMAKE_COMMAND} -E time")
# set_property(GLOBAL PROPERTY RULE_LAUNCH_LINK "${CMAKE_COMMAND} -E time")
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
geometry_msgs
tf
costmap_2d
base_local_planner
pluginlib
)
find_package(Boost COMPONENTS system filesystem REQUIRED)
#link_directories(${CMAKE_CURRENT_SOURCE_DIR}/third/boost_1_74_0/stage/lib)
#link_libraries(${CMAKE_CURRENT_SOURCE_DIR}/third/boost_1_74_0/stage/lib/libboost_serialization.so)
#link_libraries("/home/zhou/work/bz_robot/third/boost_1_74_0/stage/lib/libboost_serialization.so")
# link_libraries("/usr/local/lib/libipopt.so.3.13.3")
## OPEN MOTION PLANNING LIBRARY
#find_package(OMPL REQUIRED)
# find_package(ompl REQUIRED)
# if(NOT OMPL_FOUND)
# message(AUTHOR_WARNING,"Open Motion Planning Library not found")
# endif(NOT OMPL_FOUND)
# find_package(Nanomsg REQUIRED)
# if(NOT NNG_FOUND)
# message(AUTHOR_WARNING,"Nanomsg not found")
# endif()
#find_package(Eigen3)
#INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})
find_package(OsqpEigen REQUIRED)
INCLUDE_DIRECTORIES(${OSQPEIGEN_INCLUDE_DIR})
# include_directories( ${NNG_INCLUDE_DIRS} )
# link_directories(${NNG_LIBRARY_DIRS})
# FIND_PACKAGE( OpenMP REQUIRED)
# if(OPENMP_FOUND)
# message("OPENMP FOUND")
# set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
# set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
# set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
# endif()
find_package(SDL REQUIRED)
find_package(SDL_image REQUIRED)
include_directories( ${SDL_INCLUDE_DIR}
${SDL_IMAGE_INCLUDE_DIRS} )
#find_package( PCL REQUIRED)
#include_directories( ${PCL_INCLUDE_DIRS} )
#link_directories(${PCL_LIBRARY_DIRS})
#find_package(nlohmann_json REQUIRED)
#include_directories(include ${catkin_INCLUDE_DIRS})
#include_directories(include ${OMPL_INCLUDE_DIRS})
#message("CMAKE_CURRENT_SOURCE_DIR:\n${CMAKE_CURRENT_SOURCE_DIR}")
find_package(PythonLibs 2.7)
#link_libraries(${PYTHON_LIBRARIES})
include_directories(${PYTHON_INCLUDE_DIRS})
## HEADER ##
include_directories(${catkin_INCLUDE_DIRS})
include_directories(include /usr/include/pcl-1.8)
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src/modules/tracker/External/blasfeo/lib/include)
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src/modules/tracker/External/hpipm/lib/include)
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/src/modules/tracker/fuzzy/fuzzylite)
include_directories (${CMAKE_CURRENT_SOURCE_DIR})
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/third_libs/)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/third_libs/eigen3)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/third_libs/osqp/include)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/third_libs/osqp-eigen-0.6.2)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/third_libs/osqp-eigen-0.6.2/include)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/common)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/common/timer)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/main)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/main/ros_plugins)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/collision_detector)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/localization)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/map)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/model)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/planner)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/planner/ackermann_wave_front_planner)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/planner/fmm_planner)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/planner/frenet_optimal_planner)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/planner/frenet_polynomial_planner)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/planner/r_star_planner)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/robot)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/robot/laser)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/smoother)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/smoother/gd_smoother)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/smoother/sample_optimizing_smoother)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/smoother/sample_optimizing_smoother/config)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/smoother/sample_optimizing_smoother/data_struct)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/smoother/sample_optimizing_smoother/path_optimizer)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/smoother/sample_optimizing_smoother/reference_path_smoother)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/smoother/sample_optimizing_smoother/solver)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/smoother/sample_optimizing_smoother/tinyspline)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/smoother/sample_optimizing_smoother/tools)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/tracker)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/tracker/common)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/tracker/fuzzy)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/tracker/lqr)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/tracker/mpc)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/tracker/fnn)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/tracker/test)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/tracker/test/matplotlib)
#include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/tracker/mpc_hpipm)
#include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/tracker/mpcc)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/modules/tracker/pid)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/task)
include_directories (${CMAKE_CURRENT_SOURCE_DIR}/src/service)
#include_directories (${CMAKE_CURRENT_SOURCE_DIR}/third_libs/)
#include_directories (${CMAKE_CURRENT_SOURCE_DIR}/third_libs/rest_rpc/)
#include_directories (${CMAKE_CURRENT_SOURCE_DIR}/third_libs/rest_rpc/include/)
#include_directories (${CMAKE_CURRENT_SOURCE_DIR}/third_libs/rest_rpc/third/msgpack/include/)
## SRC ##
AUX_SOURCE_DIRECTORY (src DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/common DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/common/timer DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/main DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/main/ros_plugins DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/collision_detector DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/localization DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/map DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/model DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/planner DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/planner/ackermann_wave_front_planner DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/planner/fmm_planner DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/planner/frenet_optimal_planner DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/planner/frenet_polynomial_planner DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/planner/r_star_planner DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/robot DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/robot/laser DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/smoother DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/smoother/gradient_descent_smoother DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/smoother/sample_optimizing_smoother DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/smoother/sample_optimizing_smoother/config DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/smoother/sample_optimizing_smoother/data_struct DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/smoother/sample_optimizing_smoother/path_optimizer DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/smoother/sample_optimizing_smoother/reference_path_smoother DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/smoother/sample_optimizing_smoother/solver DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/smoother/sample_optimizing_smoother/tinyspline DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/smoother/sample_optimizing_smoother/tools DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/tracker DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/tracker/common DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/tracker/fuzzy DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/tracker/lqr DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/tracker/mpc DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/tracker/fnn DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/tracker/test DIR_SRCS)
#AUX_SOURCE_DIRECTORY (src/modules/tracker/mpc_hpipm DIR_SRCS)
#AUX_SOURCE_DIRECTORY (src/modules/tracker/mpcc DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/tracker/pid DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/task DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/service DIR_SRCS)
AUX_SOURCE_DIRECTORY (src/modules/tracker/fuzzy/fuzzylite/src DIR_SRCS1)
AUX_SOURCE_DIRECTORY (src/modules/tracker/fuzzy/fuzzylite/src/activation DIR_SRCS1)
AUX_SOURCE_DIRECTORY (src/modules/tracker/fuzzy/fuzzylite/src/defuzzifier DIR_SRCS1)
AUX_SOURCE_DIRECTORY (src/modules/tracker/fuzzy/fuzzylite/src/factory DIR_SRCS1)
AUX_SOURCE_DIRECTORY (src/modules/tracker/fuzzy/fuzzylite/src/hedge DIR_SRCS1)
AUX_SOURCE_DIRECTORY (src/modules/tracker/fuzzy/fuzzylite/src/imex DIR_SRCS1)
AUX_SOURCE_DIRECTORY (src/modules/tracker/fuzzy/fuzzylite/src/norm DIR_SRCS1)
AUX_SOURCE_DIRECTORY (src/modules/tracker/fuzzy/fuzzylite/src/rule DIR_SRCS1)
AUX_SOURCE_DIRECTORY (src/modules/tracker/fuzzy/fuzzylite/src/term DIR_SRCS1)
AUX_SOURCE_DIRECTORY (src/modules/tracker/fuzzy/fuzzylite/src/variable DIR_SRCS1)
#MESSAGE(STATUS "Src file: ${DIR_SRCS1}")
#GET_DIRECTORY_PROPERTY(output INCLUDE_DIRECTORIES)
#MESSAGE(WARNING ${output})
link_libraries("/usr/local/lib/libipopt.so")
#link_libraries(${CMAKE_CURRENT_SOURCE_DIR}/third_libs/OsqpEigen/libOsqpEigen.so)
link_libraries(${CMAKE_CURRENT_SOURCE_DIR}/third_libs/osqp-eigen-0.6.2/build/libOsqpEigen.so)
link_libraries("/usr/lib/x86_64-linux-gnu/libpcl_common.so")
link_libraries(${CMAKE_CURRENT_SOURCE_DIR}/src/modules/tracker/fuzzy/fuzzylite/release/bin/libfuzzylite.so)
# 动态库
add_library(bz_robot_lib SHARED ${DIR_SRCS})
add_library(fuzzy_lib SHARED ${DIR_SRCS1})
# 静态库
# add_library(bz_robot_lib STATIC ${DIR_SRCS})
#屏蔽PCL，改为手动指定PCL库，解决不能连接libevent库的问题
#find_package( PCL REQUIRED)
target_link_libraries(bz_robot_lib
#${PCL_LIBRARIES}
${catkin_LIBRARIES}
${SDL_LIBRARY}
${SDL_IMAGE_LIBRARIES}
${Boost_LIBRARIES}
-pthread
#-levent
#-levent_pthreads
-lstdc++
xmlrpc++
xmlrpc_client++
)
##########################
# applications
##########################
add_executable(bz_robot src/app/bz_robot.cpp)
target_link_libraries(bz_robot
bz_robot_lib
)
add_executable(test src/modules/tracker/test/test_main.cpp)
target_link_libraries(test
bz_robot_lib
)
#add_executable(collision_detector_server src/app/collision_detector_server.cpp)
#target_link_libraries(collision_detector_server
# bz_robot_lib
#)
#add_executable(localization_server src/app/localization_server.cpp)
#target_link_libraries(localization_server
# bz_robot_lib
#)
#add_executable(map_server src/app/map_server.cpp)
#target_link_libraries(map_server
# bz_robot_lib
#)
#add_executable(planner_server src/app/planner_server.cpp)
#target_link_libraries(planner_server
# bz_robot_lib
#)
#add_executable(task_manager src/app/task_manager.cpp)
#target_link_libraries(task_manager
# bz_robot_lib
#)
#add_executable(robot_server src/app/robot_server.cpp)
#target_link_libraries(robot_server
# bz_robot_lib
#)
#add_executable(service_server src/app/service_server.cpp)
#target_link_libraries(service_server
# bz_robot_lib
#)
#add_executable(smoother_server src/app/smoother_server.cpp)
#target_link_libraries(smoother_server
# bz_robot_lib
#)
#add_executable(task_server src/app/task_server.cpp)
#target_link_libraries(task_server
# bz_robot_lib
#)
#add_executable(tracker_server src/app/tracker_server.cpp)
#target_link_libraries(tracker_server
# bz_robot_lib
#)
#include_directories(include ${catkin_INCLUDE_DIRS})
#include_directories(${catkin_INCLUDE_DIRS})
# message(${catkin_LIBRARIES})
add_executable(map_to_odom src/app/ros_plugins/map_to_odom.cpp)
target_link_libraries(map_to_odom
${catkin_LIBRARIES}
)
##屏蔽PCL，改为手动指定PCL库，解决不能连接libevent库的问题
##find_package( PCL REQUIRED)
#include_directories(include /usr/include/pcl-1.8)
#link_libraries("/usr/lib/x86_64-linux-gnu/libpcl_common.so")
#add_executable(ros_interface src/app/ros_plugins/ros_interface.cpp)
#target_link_libraries(ros_interface
# bz_robot_lib
# #${PCL_LIBRARIES}
# ${catkin_LIBRARIES}
# )