CMakeLists.txt

# Copyright(c) 2019 livoxtech limited.
# Copyright(c) 2023 Enway GmbH.

cmake_minimum_required(VERSION 3.0)


#---------------------------------------------------------------------------------------
# Start livox_ros_driver2 project
#---------------------------------------------------------------------------------------
include(cmake/version.cmake)
project(livox_ros_driver2 VERSION ${LIVOX_ROS_DRIVER2_VERSION} LANGUAGES CXX)
message(STATUS "livox_ros_driver2 version: ${LIVOX_ROS_DRIVER2_VERSION}")

#---------------------------------------------------------------------------------------
# Add ROS Version MACRO
#---------------------------------------------------------------------------------------
add_definitions(-DBUILDING_ROS1)

#---------------------------------------------------------------------------------------
# find package and the dependecy
#---------------------------------------------------------------------------------------
find_package(Boost 1.54 REQUIRED COMPONENTS
  system
  thread
  chrono
)

## 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
  sensor_msgs
  std_msgs
  message_generation
  rosbag
  pcl_ros
  dust_filter_livox
  diagnostic_updater
  enway_msgs
  nodelet
  pcl_conversions
)

## Find pcl lib
find_package(PCL REQUIRED)

## Generate messages in the 'msg' folder
add_message_files(FILES
  CustomPoint.msg
  CustomMsg.msg
#   Message2.msg
)

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

find_package(PkgConfig)
pkg_check_modules(APR apr-1)
if (APR_FOUND)
  message(${APR_INCLUDE_DIRS})
  message(${APR_LIBRARIES})
endif (APR_FOUND)

###################################
## 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 als    o need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also n    eed
catkin_package(CATKIN_DEPENDS
  roscpp rospy std_msgs message_runtime nodelet
  pcl_ros
  INCLUDE_DIRS
    include
)

#---------------------------------------------------------------------------------------
# Set default build to release
#---------------------------------------------------------------------------------------
if(NOT CMAKE_BUILD_TYPE)
  set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Choose Release or Debug" FORCE)
endif()

#---------------------------------------------------------------------------------------
# Compiler config
#---------------------------------------------------------------------------------------
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

#---------------------------------------------------------------------------------------
# livox_sdk2
#---------------------------------------------------------------------------------------
add_subdirectory(src/livox_sdk2)
find_package(livox_sdk2 REQUIRED)

## PCL library
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

#---------------------------------------------------------------------------------------
# generate excutable and add libraries
#---------------------------------------------------------------------------------------
add_executable(${PROJECT_NAME}_node
  ""
)

add_library(${PROJECT_NAME}_nodelet
  ""
)

#---------------------------------------------------------------------------------------
# precompile macro and compile option
#---------------------------------------------------------------------------------------
target_compile_options(${PROJECT_NAME}_node
  PRIVATE $<$<CXX_COMPILER_ID:GNU>:-Wall>
)

#---------------------------------------------------------------------------------------
# add projects that depend on
#---------------------------------------------------------------------------------------
add_dependencies(${PROJECT_NAME}_node ${PROJECT_NAME}_generate_messages_cpp)
add_dependencies(${PROJECT_NAME}_nodelet ${PROJECT_NAME}_generate_messages_cpp)

#---------------------------------------------------------------------------------------
# source file
#---------------------------------------------------------------------------------------
target_sources(${PROJECT_NAME}_node
  PRIVATE
  src/driver_node.cpp
  src/lds.cpp
  src/lds_lidar.cpp
  src/lddc.cpp
  src/livox_ros_driver2.cpp

  src/comm/comm.cpp
  src/comm/ldq.cpp
  src/comm/semaphore.cpp
  src/comm/lidar_imu_data_queue.cpp
  src/comm/lidar_state_info_queue.cpp
  src/comm/cache_index.cpp
  src/comm/pub_handler.cpp

  src/parse_cfg_file/parse_cfg_file.cpp
  src/parse_cfg_file/parse_livox_lidar_cfg.cpp

  src/call_back/lidar_common_callback.cpp
  src/call_back/livox_lidar_callback.cpp
)

target_sources(${PROJECT_NAME}_nodelet
  PRIVATE
  src/driver_node.cpp
  src/lds.cpp
  src/lds_lidar.cpp
  src/lddc.cpp
  src/nodelet.cpp

  src/comm/comm.cpp
  src/comm/ldq.cpp
  src/comm/semaphore.cpp
  src/comm/lidar_imu_data_queue.cpp
  src/comm/lidar_state_info_queue.cpp
  src/comm/cache_index.cpp
  src/comm/pub_handler.cpp

  src/parse_cfg_file/parse_cfg_file.cpp
  src/parse_cfg_file/parse_livox_lidar_cfg.cpp

  src/call_back/lidar_common_callback.cpp
  src/call_back/livox_lidar_callback.cpp
)

#---------------------------------------------------------------------------------------
# include file
#---------------------------------------------------------------------------------------
target_include_directories(${PROJECT_NAME}_node
  PUBLIC
  include
  ${catkin_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
  ${APR_INCLUDE_DIRS}
  3rdparty
  src
)

target_include_directories(${PROJECT_NAME}_nodelet
  PUBLIC
  include
  ${catkin_INCLUDE_DIRS}
  ${PCL_INCLUDE_DIRS}
  ${APR_INCLUDE_DIRS}
  3rdparty
  src
)

include_directories(
  include
)

#---------------------------------------------------------------------------------------
# link libraries
#---------------------------------------------------------------------------------------
target_link_libraries(${PROJECT_NAME}_node
  ${LIVOX_LIDAR_SDK_LIBRARY}
  ${Boost_LIBRARY}
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
  ${APR_LIBRARIES}
)
#---------------------------------------------------------------------------------------
# nodelet libraries
#---------------------------------------------------------------------------------------

target_link_libraries(${PROJECT_NAME}_nodelet
   ${LIVOX_LIDAR_SDK_LIBRARY}
   ${Boost_LIBRARY}
   ${catkin_LIBRARIES}
   ${PCL_LIBRARIES}
   ${APR_LIBRARIES}
)

#---------------------------------------------------------------------------------------
# Install
#---------------------------------------------------------------------------------------

install(TARGETS ${PROJECT_NAME}_node
  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)

install(TARGETS ${PROJECT_NAME}_nodelet
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
)

install(FILES nodelets.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

install(DIRECTORY launch_ROS1/
  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch_ROS1
)

install(
  DIRECTORY
    include/${PROJECT_NAME}/
  DESTINATION
    ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  FILES_MATCHING PATTERN "*.h"
)
#---------------------------------------------------------------------------------------
# end of CMakeList.txt
#---------------------------------------------------------------------------------------