feat: cmake optimization in progress

Signed-off-by: Kenzo Lobos-Tsunekawa <[email protected]>
tier4 · May 14, 2024 · 14ac7fc · 14ac7fc
1 parent be26ceb
commit 14ac7fc
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Showing 15 changed files with 881 additions and 271 deletions.
diff --git a/nebula_common/CMakeLists.txt b/nebula_common/CMakeLists.txt
@@ -2,13 +2,9 @@ cmake_minimum_required(VERSION 3.14)
 project(nebula_common)
 
 find_package(ament_cmake_auto REQUIRED)
-find_package(PCL REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common)
-find_package(pcl_conversions REQUIRED)
 find_package(yaml-cpp REQUIRED)
 
-ament_auto_find_build_dependencies()
-
 # Default to C++17
 if (NOT CMAKE_CXX_STANDARD)
     set(CMAKE_CXX_STANDARD 17)
@@ -35,12 +31,28 @@ include_directories(
         ${PCL_COMMON_INCLUDE_DIRS}
 )
 
-ament_auto_add_library(nebula_common SHARED
-        src/nebula_common.cpp
-        src/velodyne/velodyne_calibration_decoder.cpp
-        )
+link_libraries(
+    ${PCL_LIBRARIES}
+    ${YAML_CPP_LIBRARIES}
+)
+
+add_library(nebula_common SHARED
+    src/nebula_common.cpp
+    src/velodyne/velodyne_calibration_decoder.cpp
+)
+
+install(TARGETS nebula_common EXPORT export_nebula_common)
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
+
+ament_export_include_directories("include/${PROJECT_NAME}")
+ament_export_targets(export_nebula_common)
+
+ament_export_dependencies(
+    PCL
+    yaml-cpp
+)
 
-ament_auto_package()
+ament_package()
 
 # Set ROS_DISTRO macros
 set(ROS_DISTRO $ENV{ROS_DISTRO})

diff --git a/nebula_common/package.xml b/nebula_common/package.xml
@@ -13,7 +13,6 @@
   <buildtool_depend>ros_environment</buildtool_depend>
 
   <depend>libpcl-all-dev</depend>
-  <depend>pcl_conversions</depend>
   <depend>yaml-cpp</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>

diff --git a/nebula_decoders/CMakeLists.txt b/nebula_decoders/CMakeLists.txt
@@ -3,7 +3,7 @@ project(nebula_decoders)
 
 find_package(ament_cmake_auto REQUIRED)
 
-ament_auto_find_build_dependencies()
+#ament_auto_find_build_dependencies()
 
 # Default to C++17
 if (NOT CMAKE_CXX_STANDARD)
@@ -14,58 +14,159 @@ if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Wpedantic -Wunused-function)
 endif ()
 
+find_package(PCL REQUIRED COMPONENTS common)
+#find_package(pcl_conversions REQUIRED)
+
 find_package(angles REQUIRED)
-find_package(PCL REQUIRED)
-find_package(pcl_conversions REQUIRED)
-find_package(yaml-cpp REQUIRED)
+find_package(continental_msgs REQUIRED)
+find_package(diagnostic_msgs REQUIRED)
 find_package(nebula_common REQUIRED)
+find_package(nebula_msgs REQUIRED)
+find_package(pandar_msgs REQUIRED)
+find_package(pcl_conversions REQUIRED)
+find_package(radar_msgs REQUIRED)
+find_package(rclcpp REQUIRED)
 find_package(robosense_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(velodyne_msgs REQUIRED)
+find_package(yaml-cpp REQUIRED)
+
+include_directories(PUBLIC
+    include
+    SYSTEM
+)
 
-include_directories(
-        include
-        SYSTEM
-        ${YAML_CPP_INCLUDE_DIRS}
-        ${PCL_INCLUDE_DIRS}
-        ${PCL_COMMON_INCLUDE_DIRS}
+set(common_include_dirs
+    ${nebula_common_INCLUDE_DIRS}
+    ${YAML_CPP_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+    ${PCL_COMMON_INCLUDE_DIRS}
+    ${pcl_conversions_INCLUDE_DIRS}
+    ${rcl_INCLUDE_DIRS}
+    ${rclcpp_INCLUDE_DIRS}
+    ${sensor_msgs_INCLUDE_DIRS}
+)
+
+set(common_targets
+    ${nebula_common_TARGETS}
+    ${pcl_conversions_LIBRARIES}
+    ${rcl_TARGETS}
+    ${rclcpp_TARGETS}
+    ${sensor_msgs_TARGETS}
 )
 
 # Lidar Decoders
 # Hesai
-ament_auto_add_library(nebula_decoders_hesai SHARED
-        src/nebula_decoders_hesai/hesai_driver.cpp
-        )
+add_library(nebula_decoders_hesai SHARED
+    src/nebula_decoders_hesai/hesai_driver.cpp
+)
+target_link_libraries(nebula_decoders_hesai PUBLIC
+    ${pandar_msgs_TARGETS}
+    ${common_targets}
+)
+
+target_include_directories(nebula_decoders_hesai PUBLIC
+    ${pandar_msgs_INCLUDE_DIRS}
+    ${common_include_dirs}
+)
 
 # Velodyne
-ament_auto_add_library(nebula_decoders_velodyne SHARED
-        src/nebula_decoders_velodyne/velodyne_driver.cpp
-        src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
-        src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
-        src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
-        )
+add_library(nebula_decoders_velodyne SHARED
+    src/nebula_decoders_velodyne/velodyne_driver.cpp
+    src/nebula_decoders_velodyne/decoders/vls128_decoder.cpp
+    src/nebula_decoders_velodyne/decoders/vlp16_decoder.cpp
+    src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp
+)
+target_link_libraries(nebula_decoders_velodyne PUBLIC
+    ${angles_msgs_TARGETS}
+    ${velodyne_msgs_TARGETS}
+    ${common_targets}
+)
+target_include_directories(nebula_decoders_velodyne PUBLIC
+    ${angles_INCLUDE_DIRS}
+    ${velodyne_msgs_INCLUDE_DIRS}
+    ${common_include_dirs}
+)
 
 # Robosense
-ament_auto_add_library(nebula_decoders_robosense SHARED
-        src/nebula_decoders_robosense/robosense_driver.cpp
-        )
-
-ament_auto_add_library(nebula_decoders_robosense_info SHARED
-        src/nebula_decoders_robosense/robosense_info_driver.cpp
-        )
+add_library(nebula_decoders_robosense SHARED
+src/nebula_decoders_robosense/robosense_driver.cpp
+)
+target_link_libraries(nebula_decoders_robosense PUBLIC
+    ${robosense_msgs_TARGETS}
+    ${common_targets}
+)
+target_include_directories(nebula_decoders_robosense PUBLIC
+    ${robosense_msgs_INCLUDE_DIRS}
+    ${common_include_dirs}
+)
 
 # Continental
-ament_auto_add_library(nebula_decoders_continental SHARED
-        src/nebula_decoders_continental/decoders/continental_ars548_decoder.cpp
-        )
+add_library(nebula_decoders_continental SHARED
+    src/nebula_decoders_continental/decoders/continental_ars548_decoder.cpp
+)
+target_link_libraries(nebula_decoders_continental PUBLIC
+    ${continental_msgs_TARGETS}
+    ${diagnostic_msgs_TARGETS}
+    ${boost_udp_driver_TARGETS}
+    ${nebula_common_TARGETS}
+    ${nebula_msgs_TARGETS}
+    ${radar_msgs_TARGETS}
+    ${common_targets}
+)
+target_include_directories(nebula_decoders_continental PUBLIC
+    ${continental_msgs_INCLUDE_DIRS}
+    ${diagnostic_msgs_INCLUDE_DIRS}
+    ${boost_udp_driver_INCLUDE_DIRS}
+    ${nebula_common_INCLUDE_DIRS}
+    ${nebula_msgs_INCLUDE_DIRS}
+    ${radar_msgs_INCLUDE_DIRS}
+    ${common_include_dirs}
+)
+
+install(TARGETS nebula_decoders_hesai EXPORT export_nebula_decoders_hesai)
+install(TARGETS nebula_decoders_velodyne EXPORT export_nebula_decoders_velodyne)
+install(TARGETS nebula_decoders_robosense EXPORT export_nebula_decoders_robosense)
+install(TARGETS nebula_decoders_continental EXPORT export_nebula_decoders_continental)
+install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
     ament_lint_auto_find_test_dependencies()
 endif()
 
-ament_auto_package(
-        INSTALL_TO_SHARE
-        calibration
-        )
+ament_export_include_directories("include/${PROJECT_NAME}")
+ament_export_targets(export_nebula_decoders_hesai)
+ament_export_targets(export_nebula_decoders_velodyne)
+ament_export_targets(export_nebula_decoders_robosense)
+ament_export_targets(export_nebula_decoders_continental)
+
+install(
+  DIRECTORY calibration
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_export_dependencies(
+    PCL
+    pcl_conversions
+    angles
+    continental_msgs
+    diagnostic_msgs
+    nebula_common
+    nebula_msgs
+    pandar_msgs
+    radar_msgs
+    rcl
+    rclcpp
+    rclcpp_components
+    robosense_msgs
+    sensor_msgs
+    velodyne_msgs
+    yaml-cpp
+)
+
+#ament_auto_package(
+ament_package()
 
 # Set ROS_DISTRO macros
 set(ROS_DISTRO $ENV{ROS_DISTRO})

diff --git a/nebula_examples/CMakeLists.txt b/nebula_examples/CMakeLists.txt
@@ -11,51 +11,101 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
 endif()
 
 find_package(ament_cmake_auto REQUIRED)
-find_package(PCL REQUIRED COMPONENTS common)
-find_package(PCL REQUIRED)
-find_package(pcl_conversions REQUIRED)
-find_package(yaml-cpp REQUIRED)
 find_package(nebula_decoders REQUIRED)
+find_package(nebula_hw_interfaces REQUIRED)
 find_package(nebula_ros REQUIRED)
 find_package(nebula_common REQUIRED)
+find_package(PCL REQUIRED COMPONENTS common)
+find_package(pcl_conversions REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rosbag2_cpp REQUIRED)
+find_package(yaml-cpp REQUIRED)
 
-ament_auto_find_build_dependencies()
+#ament_auto_find_build_dependencies()
 
 include_directories(
-        include
-        SYSTEM
-        ${YAML_CPP_INCLUDE_DIRS}
-        ${PCL_INCLUDE_DIRS}
-        ${PCL_COMMON_INCLUDE_DIRS}
+    include
+    SYSTEM
+    ${nebula_decoders_INCLUDE_DIRS}
+    ${nebula_ros_INCLUDE_DIRS}
+    ${PCL_INCLUDE_DIRS}
+    ${PCL_COMMON_INCLUDE_DIRS}
+    ${rosbag2_cpp_INCLUDE_DIRS}
+    ${YAML_CPP_INCLUDE_DIRS}
+)
+
+message(STATUS "rosbag_cpp_INCLUDE_DIRS: ${rosbag2_cpp_INCLUDE_DIRS}")
+message(STATUS "rosbag_cpp_LIBRARIES: ${rosbag2_cpp_LIBRARIES}")
+message(STATUS "rosbag_cpp_TARGETS: ${rosbag2_cpp_TARGETS}")
+
+link_libraries(
+    ${rosbag2_cpp_TARGETS}
+    ${PCL_LIBRARIES}
 )
+
+message(STATUS "nebula_ros_INCLUDE_DIRS: ${nebula_ros_INCLUDE_DIRS}")
+
 ## HESAI
 # Offline Lib
-ament_auto_add_library(hesai_ros_offline_extract_pcd SHARED
-        ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_pcd.cpp
+add_library(hesai_ros_offline_extract_pcd SHARED
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_pcd.cpp
+)
+target_link_libraries(hesai_ros_offline_extract_pcd PUBLIC
+    nebula_decoders::nebula_decoders_hesai
+)
+
+add_executable(hesai_ros_offline_extract_pcd_node
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_pcd_main.cpp
 )
-target_link_libraries(hesai_ros_offline_extract_pcd ${PCL_LIBRARIES})
-ament_auto_add_executable(hesai_ros_offline_extract_pcd_node
-        ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_pcd_main.cpp
+
+target_link_libraries(hesai_ros_offline_extract_pcd_node PUBLIC
+    hesai_ros_offline_extract_pcd
 )
+
 # Extraction for TEST Lib
-ament_auto_add_library(hesai_ros_offline_extract_bag_pcd SHARED
-        ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
+add_library(hesai_ros_offline_extract_bag_pcd SHARED
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
 )
-target_link_libraries(hesai_ros_offline_extract_bag_pcd ${PCL_LIBRARIES})
-ament_auto_add_executable(hesai_ros_offline_extract_bag_pcd_node
-        ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_bag_pcd_main.cpp
+target_link_libraries(hesai_ros_offline_extract_bag_pcd PUBLIC
+    nebula_decoders::nebula_decoders_hesai
+)
+
+add_executable(hesai_ros_offline_extract_bag_pcd_node
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_bag_pcd_main.cpp
+)
+
+target_link_libraries(hesai_ros_offline_extract_bag_pcd_node PUBLIC
+    hesai_ros_offline_extract_bag_pcd
 )
 
 ## Velodyne
 # Extraction for TEST Lib
-ament_auto_add_library(velodyne_ros_offline_extract_bag_pcd SHARED
-        ${CMAKE_CURRENT_SOURCE_DIR}/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp
+add_library(velodyne_ros_offline_extract_bag_pcd SHARED
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp
+)
+target_link_libraries(velodyne_ros_offline_extract_bag_pcd PUBLIC
+    nebula_decoders::nebula_decoders_velodyne
 )
-target_link_libraries(velodyne_ros_offline_extract_bag_pcd ${PCL_LIBRARIES})
-ament_auto_add_executable(velodyne_ros_offline_extract_bag_pcd_node
-        ${CMAKE_CURRENT_SOURCE_DIR}/src/velodyne/velodyne_ros_offline_extract_bag_pcd_main.cpp
+
+add_executable(velodyne_ros_offline_extract_bag_pcd_node
+    ${CMAKE_CURRENT_SOURCE_DIR}/src/velodyne/velodyne_ros_offline_extract_bag_pcd_main.cpp
+)
+
+target_link_libraries(velodyne_ros_offline_extract_bag_pcd_node PUBLIC
+    velodyne_ros_offline_extract_bag_pcd
 )
 
+
+#ament_auto_add_library(velodyne_ros_offline_extract_bag_pcd SHARED
+#    ${CMAKE_CURRENT_SOURCE_DIR}/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp
+#)
+#target_link_libraries(velodyne_ros_offline_extract_bag_pcd ${PCL_LIBRARIES})
+#ament_auto_add_executable(velodyne_ros_offline_extract_bag_pcd_node
+#    ${CMAKE_CURRENT_SOURCE_DIR}/src/velodyne/velodyne_ros_offline_extract_bag_pcd_main.cpp
+#)
+
+
+
 if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
     ament_lint_auto_find_test_dependencies()