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CMake Eigen Addition

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May 3rd, 2015
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  1. cmake_minimum_required(VERSION 3.8.3)
  2. project(lidar_point_cloud)
  3.  
  4. list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
  5.  
  6. ## Find catkin macros and libraries
  7. ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
  8. ## is used, also find other catkin packages
  9. find_package(
  10.     catkin REQUIRED COMPONENTS
  11.     roscpp
  12.     rospy
  13.     std_msgs
  14.     genmsg
  15.     cmake_modules
  16.     Eigen
  17. )
  18.  
  19.  
  20. ## System dependencies are found with CMake's conventions
  21. # find_package(Boost REQUIRED COMPONENTS system)
  22.  
  23.  
  24. ## Uncomment this if the package has a setup.py. This macro ensures
  25. ## modules and global scripts declared therein get installed
  26. ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
  27. # catkin_python_setup()
  28.  
  29. ################################################
  30. ## Declare ROS messages, services and actions ##
  31. ################################################
  32.  
  33. ## To declare and build messages, services or actions from within this
  34. ## package, follow these steps:
  35. ## * Let MSG_DEP_SET be the set of packages whose message types you use in
  36. ##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
  37. ## * In the file package.xml:
  38. ##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
  39. ##   * If MSG_DEP_SET isn't empty the following dependencies might have been
  40. ##     pulled in transitively but can be declared for certainty nonetheless:
  41. ##     * add a build_depend tag for "message_generation"
  42. ##     * add a run_depend tag for "message_runtime"
  43. ## * In this file (CMakeLists.txt):
  44. ##   * add "message_generation" and every package in MSG_DEP_SET to
  45. ##     find_package(catkin REQUIRED COMPONENTS ...)
  46. ##   * add "message_runtime" and every package in MSG_DEP_SET to
  47. ##     catkin_package(CATKIN_DEPENDS ...)
  48. ##   * uncomment the add_*_files sections below as needed
  49. ##     and list every .msg/.srv/.action file to be processed
  50. ##   * uncomment the generate_messages entry below
  51.  
  52. ##     and list every .msg/.srv/.action file to be processed
  53. ##   * uncomment the generate_messages entry below
  54. ##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
  55.  
  56. ## Generate messages in the 'msg' folder
  57. # add_message_files(
  58. #   FILES
  59. #   Message1.msg
  60. #   Message2.msg
  61. # )
  62.  
  63. ## Generate services in the 'srv' folder
  64. # add_service_files(
  65. #   FILES
  66. #   Service1.srv
  67. #   Service2.srv
  68. # )
  69.  
  70. ## Generate actions in the 'action' folder
  71. # add_action_files(
  72. #   FILES
  73. #   Action1.action
  74.  
  75. #   Action2.action
  76. # )
  77.  
  78. ## Generate added messages and services with any dependencies listed here
  79. # generate_messages(
  80. #   DEPENDENCIES
  81. #   std_msgs
  82. # )
  83.  
  84. ###################################
  85. ## catkin specific configuration ##
  86. ###################################
  87. ## The catkin_package macro generates cmake config files for your package
  88. ## Declare things to be passed to dependent projects
  89. ## INCLUDE_DIRS: uncomment this if you package contains header files
  90. ## LIBRARIES: libraries you create in this project that dependent projects also need
  91. ## CATKIN_DEPENDS: catkin_packages dependent projects also need
  92. ## DEPENDS: system dependencies of this project that dependent projects also need
  93. catkin_package(
  94.   INCLUDE_DIRS include
  95.   LIBRARIES lidar_point_cloud
  96.  
  97.   CATKIN_DEPENDS
  98.      roscpp rospy std_msgs cmake_modules Eigen
  99.  
  100.   DEPENDS system_lib
  101. )
  102.  
  103. ###########
  104. ## Build ##
  105. ###########
  106.  
  107. ## Specify additional locations of header files
  108. ## Your package locations should be listed before other locations
  109. # include_directories(include)
  110. include_directories(
  111.   ${catkin_INCLUDE_DIRS}
  112. )
  113.  
  114. include_directories(${EIGEN_INCLUDE_DIRS})
  115.  
  116. ## Declare a cpp library
  117. # add_library(lidar_point_cloud
  118. #   src/${PROJECT_NAME}/lidar_point_cloud.cpp
  119. # )
  120.  
  121. ## Declare a cpp executable
  122. add_executable(lidar_point_cloud laser_scan_to_point_cloud.cpp)
  123.  
  124. ## Add cmake target dependencies of the executable/library
  125. ## as an example, message headers may need to be generated before nodes
  126. add_dependencies(lidar_point_cloud src/idar_point_cloud_generate_messages_cpp)
  127.  
  128. ## Specify libraries to link a library or executable target against
  129. target_link_libraries(lidar_point_cloud_node
  130.    ${catkin_LIBRARIES}
  131. )
  132.  
  133. #############
  134. ## Install ##
  135. #############
  136.  
  137. # all install targets should use catkin DESTINATION variables
  138. # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
  139.  
  140. ## Mark executable scripts (Python etc.) for installation
  141. ## in contrast to setup.py, you can choose the destination
  142. # install(PROGRAMS
  143. #   scripts/my_python_script
  144. #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  145. # )
  146.  
  147. ## Mark executables and/or libraries for installation
  148. # install(TARGETS lidar_point_cloud lidar_point_cloud_node
  149. #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  150. #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
  151. #   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
  152. # )
  153.  
  154. ## Mark cpp header files for installation
  155. # install(DIRECTORY include/${PROJECT_NAME}/
  156. #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
  157. #   FILES_MATCHING PATTERN "*.h"
  158. #   PATTERN ".svn" EXCLUDE
  159. # )
  160.  
  161. ## Mark other files for installation (e.g. launch and bag files, etc.)
  162. # install(FILES
  163. #   # myfile1
  164. #   # myfile2
  165. #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
  166. # )
  167.  
  168. #############
  169. ## Testing ##
  170.  be run by python nosetests
  171. # catkin_add_nosetests(test)
  172. -- INSERT --                                                   166,29        Bot
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