refactor(CMakeListx.txt): just refactoring (autowarefoundation#24)

* refactor imgproc/*/CMakeListx.txt Signed-off-by: Kento Yabuuchi <[email protected]> * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg Signed-off-by: Kento Yabuuchi <[email protected]> * rename some files in twist/ & refactor pf/*/cmakelist Signed-off-by: Kento Yabuuchi <[email protected]> * refactor validation/*/CMakeListx.txt Signed-off-by: Kento Yabuuchi <[email protected]> * fix some obsolete executor name Signed-off-by: Kento Yabuuchi <[email protected]> --------- Signed-off-by: Kento Yabuuchi <[email protected]>
KYabuuchi · Jun 6, 2023 · af81620 · af81620
1 parent a7c7169
commit af81620
Show file tree

Hide file tree

Showing 29 changed files with 130 additions and 211 deletions.
diff --git a/localization/yabloc/imgproc/graph_segment/CMakeLists.txt b/localization/yabloc/imgproc/graph_segment/CMakeLists.txt
@@ -23,16 +23,13 @@ find_package(Eigen3 REQUIRED)
 # OpenCV
 find_package(OpenCV REQUIRED)
 
-# PCL
-find_package(PCL REQUIRED COMPONENTS common)
-
 # ===================================================
 # Executable
 set(TARGET graph_segment_node)
 ament_auto_add_executable(${TARGET} src/graph_segment_node.cpp src/graph_segment_core src/similar_area_searcher.cpp)
 target_include_directories(${TARGET} PUBLIC include)
-target_include_directories(${TARGET} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
-target_link_libraries(${TARGET} ${_ARG_LIB} ${OpenCV_LIBS})
+target_include_directories(${TARGET} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIRS})
+target_link_libraries(${TARGET} ${OpenCV_LIBS})
 
 # ===================================================
 ament_auto_package()
diff --git a/localization/yabloc/imgproc/lsd/CMakeLists.txt b/localization/yabloc/imgproc/lsd/CMakeLists.txt
@@ -25,23 +25,11 @@ find_package(OpenCV REQUIRED)
 
 # ===================================================
 # Executable
-macro(ADD_EXE)
-  cmake_parse_arguments(_ARG "" "TARGET" "SRC;LIB;INC" ${ARGN})
-
-  set(SOURCE "")
-
-  foreach(QUERY IN ITEMS ${_ARG_SRC})
-    file(GLOB SOURCE_TMP ${QUERY})
-    set(SOURCE "${SOURCE};${SOURCE_TMP}")
-  endforeach()
-
-  set(TARGET_NAME ${_ARG_TARGET})
-  ament_auto_add_executable(${TARGET_NAME} ${SOURCE})
-  target_include_directories(${TARGET_NAME} PUBLIC ${_ARG_INC} ${EIGEN3_INCLUDE_DIRS})
-  target_link_libraries(${TARGET_NAME} ${_ARG_LIB} ${OpenCV_LIBS})
-endmacro()
-
-ADD_EXE(TARGET lsd_node SRC src/lsd_node.cpp src/lsd_core.cpp INC include)
+set(TARGET lsd_node)
+ament_auto_add_executable(${TARGET} src/lsd_node.cpp src/lsd_core.cpp)
+target_include_directories(${TARGET} PUBLIC include)
+target_include_directories(${TARGET} SYSTEM PUBLIC ${EIGEN3_INCLUDE_DIRS})
+target_link_libraries(${TARGET} ${OpenCV_LIBS})
 
 # ===================================================
 ament_auto_package()
diff --git a/localization/yabloc/imgproc/segment_filter/CMakeLists.txt b/localization/yabloc/imgproc/segment_filter/CMakeLists.txt
@@ -24,30 +24,16 @@ find_package(Eigen3 REQUIRED)
 find_package(OpenCV REQUIRED)
 
 # PCL
-find_package(PCL REQUIRED COMPONENTS common filter)
-
-# Sophus
-find_package(Sophus REQUIRED)
+find_package(PCL REQUIRED COMPONENTS common)
 
 # ===================================================
 # Executable
-macro(ADD_EXE)
-  cmake_parse_arguments(_ARG "" "TARGET" "SRC;LIB;INC" ${ARGN})
-
-  set(SOURCE "")
-
-  foreach(QUERY IN ITEMS ${_ARG_SRC})
-    file(GLOB SOURCE_TMP ${QUERY})
-    set(SOURCE "${SOURCE};${SOURCE_TMP}")
-  endforeach()
-
-  set(TARGET_NAME ${_ARG_TARGET})
-  ament_auto_add_executable(${TARGET_NAME} ${SOURCE})
-  target_include_directories(${TARGET_NAME} PUBLIC ${_ARG_INC} ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
-  target_link_libraries(${TARGET_NAME} ${_ARG_LIB} ${PCL_LIBRARIES} Sophus::Sophus ${OpenCV_LIBS})
-endmacro()
-
-ADD_EXE(TARGET segment_filter_node SRC src/segment_filter_*.cpp INC include)
+set(TARGET segment_filter_node)
+ament_auto_add_executable(${TARGET}
+  src/segment_filter_node.cpp
+  src/segment_filter_core.cpp)
+target_include_directories(${TARGET} PUBLIC include ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
+target_link_libraries(${TARGET} ${PCL_LIBRARIES} ${OpenCV_LIBS})
 
 # ===================================================
 ament_auto_package()
diff --git a/localization/yabloc/imgproc/undistort/CMakeLists.txt b/localization/yabloc/imgproc/undistort/CMakeLists.txt
@@ -17,34 +17,14 @@ find_package(ament_cmake_auto REQUIRED)
 ament_auto_find_build_dependencies()
 
 # ===================================================
-# Eigen3
-find_package(Eigen3 REQUIRED)
-
 # OpenCV
 find_package(OpenCV REQUIRED)
 
-# PCL
-find_package(PCL REQUIRED)
-
 # ===================================================
 # Executable
-macro(ADD_EXE)
-  cmake_parse_arguments(_ARG "" "TARGET" "SRC;LIB;INC" ${ARGN})
-
-  set(SOURCE "")
-
-  foreach(QUERY IN ITEMS ${_ARG_SRC})
-    file(GLOB SOURCE_TMP ${QUERY})
-    set(SOURCE "${SOURCE};${SOURCE_TMP}")
-  endforeach()
-
-  set(TARGET_NAME ${_ARG_TARGET})
-  ament_auto_add_executable(${TARGET_NAME} ${SOURCE})
-  target_include_directories(${TARGET_NAME} PUBLIC ${_ARG_INC} ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
-  target_link_libraries(${TARGET_NAME} ${_ARG_LIB} ${PCL_LIBRARIES} ${OpenCV_LIBS})
-endmacro()
-
-ADD_EXE(TARGET undistort_node SRC src/undistort_node.cpp)
+set(TARGET undistort_node)
+ament_auto_add_executable(${TARGET} src/undistort_node.cpp)
+target_link_libraries(${TARGET} ${OpenCV_LIBS})
 
 # ===================================================
 ament_auto_package(INSTALL_TO_SHARE launch)
diff --git a/localization/yabloc/initializer/camera_pose_initializer/CMakeLists.txt b/localization/yabloc/initializer/camera_pose_initializer/CMakeLists.txt
@@ -28,16 +28,17 @@ find_package(Sophus REQUIRED)
 
 # ===================================================
 # Executable
-ament_auto_add_executable(${PROJECT_NAME}
+set(TARGET camera_pose_initializer_node)
+ament_auto_add_executable(${TARGET}
   src/lane_image.cpp
   src/marker_module.cpp
   src/projector_module.cpp
   src/lanelet_util.cpp
   src/camera_pose_initializer_core.cpp
   src/camera_pose_initializer_node.cpp)
-target_include_directories(${PROJECT_NAME} PUBLIC include)
-target_include_directories(${PROJECT_NAME} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
-target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES} Sophus::Sophus)
+target_include_directories(${TARGET} PUBLIC include)
+target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
+target_link_libraries(${TARGET} ${PCL_LIBRARIES} Sophus::Sophus)
 
 # ===================================================
 ament_auto_package()
diff --git a/localization/yabloc/initializer/gnss_pose_initializer/CMakeLists.txt b/localization/yabloc/initializer/gnss_pose_initializer/CMakeLists.txt
@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 3.5)
+project(gnss_pose_initializer)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  # add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# ===================================================
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+# ===================================================
+# Eigen3
+find_package(Eigen3 REQUIRED)
+
+# ===================================================
+# Executable
+set(TARGET gnss_pose_initializer_node)
+ament_auto_add_executable(${TARGET}
+  src/gnss_pose_initializer_node.cpp)
+target_include_directories(${TARGET} PUBLIC include)
+target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS})
+
+# ===================================================
+ament_auto_package()
diff --git a/localization/yabloc/initializer/gnss_pose_initializer/package.xml b/localization/yabloc/initializer/gnss_pose_initializer/package.xml
@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>gnss_pose_initializer</name>
+  <version>0.0.0</version>
+  <description>The pose initializer based on gnns doppler</description>
+  <maintainer email="[email protected]">Kento Yabuuchi</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_ros</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>ublox_msgs</depend>
+
+  <depend>pcdless_common</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/...nitializer/src/gnss_based_initializer.cpp → ...alizer/src/gnss_pose_initializer_node.cpp b/...nitializer/src/gnss_based_initializer.cpp → ...alizer/src/gnss_pose_initializer_node.cpp
diff --git a/localization/yabloc/initializer/particle_initializer/CMakeLists.txt b/localization/yabloc/initializer/particle_initializer/CMakeLists.txt
@@ -19,21 +19,13 @@ ament_auto_find_build_dependencies()
 # Eigen3
 find_package(Eigen3 REQUIRED)
 
-# PCL
-find_package(PCL REQUIRED COMPONENTS common kdtree)
-
 # ===================================================
 # Executable
 set(TARGET particle_initializer_node)
 ament_auto_add_executable(${TARGET}
   src/particle_initializer_core.cpp
   src/particle_initializer_node.cpp)
 target_include_directories(${TARGET} PUBLIC include)
-target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
-target_link_libraries(${TARGET} ${PCL_LIBRARIES})
-
-set(TARGET gnss_based_pose_initializer)
-ament_auto_add_executable(${TARGET} src/gnss_based_initializer.cpp)
 target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS})
 
 # ===================================================

diff --git a/localization/yabloc/particle_filter/camera_particle_corrector/CMakeLists.txt b/localization/yabloc/particle_filter/camera_particle_corrector/CMakeLists.txt
@@ -31,7 +31,7 @@ find_package(glog REQUIRED)
 
 # ===================================================
 # Executable
-set(TARGET camera_particle_corrector)
+set(TARGET camera_particle_corrector_node)
 ament_auto_add_executable(${TARGET}
   src/camera_particle_corrector_node.cpp
   src/filt_lsd.cpp

diff --git a/localization/yabloc/particle_filter/gnss_particle_corrector/CMakeLists.txt b/localization/yabloc/particle_filter/gnss_particle_corrector/CMakeLists.txt
@@ -33,10 +33,11 @@ find_library(GeographicLib_LIBRARIES NAMES Geographic)
 
 # ===================================================
 # Executable
-ament_auto_add_executable(gnss_particle_corrector src/gnss_corrector_node.cpp src/gnss_corrector_core.cpp)
-target_include_directories(gnss_particle_corrector PUBLIC include)
-target_include_directories(gnss_particle_corrector PUBLIC SYSTEM ${GeographicLib_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})
-target_link_libraries(gnss_particle_corrector Sophus::Sophus)
+set(TARGET gnss_particle_corrector_node)
+ament_auto_add_executable(${TARGET} src/gnss_corrector_node.cpp src/gnss_corrector_core.cpp)
+target_include_directories(${TARGET} PUBLIC include)
+target_include_directories(${TARGET} PUBLIC SYSTEM ${GeographicLib_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIRS})
+target_link_libraries(${TARGET} Sophus::Sophus)
 
 # ===================================================
 ament_auto_package()
diff --git a/localization/yabloc/particle_filter/ll2_cost_map/CMakeLists.txt b/localization/yabloc/particle_filter/ll2_cost_map/CMakeLists.txt
@@ -24,7 +24,7 @@ find_package(Eigen3 REQUIRED)
 find_package(PCL REQUIRED COMPONENTS common)
 
 # ===================================================
-# Executable
+# Library
 ament_auto_add_library(${PROJECT_NAME}
   SHARED
   src/hierarchical_cost_map.cpp

diff --git a/localization/yabloc/pcdless_launch/launch/impl/initializer.launch.xml b/localization/yabloc/pcdless_launch/launch/impl/initializer.launch.xml
@@ -3,15 +3,15 @@
     <arg name="initialpose_cov_xx_yy" default="[2.0,0.25]"/>
 
     <group if="$(var skip_autoware_pose_initializer)">
-        <node name="gnss_based_pose_initializer" pkg="particle_initializer" exec="gnss_based_pose_initializer" output="screen" args="--ros-args --log-level info">
+        <node name="gnss_pose_initializer_node" pkg="gnss_pose_initializer" exec="gnss_pose_initializer_node" output="screen" args="--ros-args --log-level info">
             <remap from="ublox_topic" to="/sensing/gnss/ublox/navpvt"/>
             <remap from="pose_cov" to="/initialpose3d"/>
             <remap from="pf_pose" to="/localization/pf/pose"/>
         </node> 
     </group>
 
     <group unless="$(var skip_autoware_pose_initializer)">
-        <node name="camera_pose_initializer_node" pkg="camera_pose_initializer" exec="camera_pose_initializer" output="screen" args="--ros-args --log-level info">
+        <node name="camera_pose_initializer_node" pkg="camera_pose_initializer" exec="camera_pose_initializer_node" output="screen" args="--ros-args --log-level info">
             <remap from="camera_info" to="$(var resized_info)"/>
             <remap from="initialpose" to="/initialpose"/>
             <remap from="/map/ll2_road_marking" to="/localization/map/ll2_road_marking"/>

diff --git a/localization/yabloc/pcdless_launch/launch/impl/pf.launch.xml b/localization/yabloc/pcdless_launch/launch/impl/pf.launch.xml
@@ -47,7 +47,7 @@
 
     <arg name="output_scored_cloud" default="scored_cloud"/>
     <arg name="output_cost_map_range" default="cost_map_range"/>
-    <node name="camera_corrector" pkg="camera_particle_corrector" exec="camera_particle_corrector" output="screen" args="--ros-args --log-level warn">
+    <node name="camera_corrector" pkg="camera_particle_corrector" exec="camera_particle_corrector_node" output="screen" args="--ros-args --log-level warn">
         <param name="visualize" value="false"/>
 
         <param name="use_sim_time" value="$(var use_sim_time)"/>
@@ -68,7 +68,7 @@
     </node>
 
     <!-- gnss correction -->
-    <node name="gnss_particle_corrector" pkg="gnss_particle_corrector" exec="gnss_particle_corrector" output="screen" args="--ros-args --log-level warn">
+    <node name="gnss_corrector" pkg="gnss_particle_corrector" exec="gnss_particle_corrector_node" output="screen" args="--ros-args --log-level warn">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
         <param name="ignore_less_than_float" value="$(var ignore_less_than_float)"/>
         <param name="for_fixed/max_weight" value="5.0"/>

diff --git a/localization/yabloc/pcdless_launch/launch/impl/twist.launch.xml b/localization/yabloc/pcdless_launch/launch/impl/twist.launch.xml
@@ -29,7 +29,7 @@
     </group>
 
     <!-- velocity report converter -->
-    <node name="velocity_report_node" pkg="twist_converter" exec="velocity_report_converter" output="screen" args="--ros-args --log-level warn">
+    <node name="velocity_report_node" pkg="twist_converter" exec="velocity_report_converter_node" output="screen" args="--ros-args --log-level warn">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
     </node>
 </launch>
diff --git a/localization/yabloc/pcdless_launch/launch/impl/validation.launch.xml b/localization/yabloc/pcdless_launch/launch/impl/validation.launch.xml
@@ -20,15 +20,15 @@
     </node>
 
     <!-- fix to pose -->
-    <node name="fix_to_pose" pkg="path_monitor" exec="fix_to_pose" output="log" args="--ros-args --log-level warn">
+    <node name="fix_to_pose" pkg="path_monitor" exec="fix_to_pose_node" output="log" args="--ros-args --log-level warn">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
         <remap from="pose" to="/sensing/gnss/ublox/pose"/>
         <remap from="fix_topic" to="/sensing/gnss/ublox/nav_sat_fix"/>
         <remap from="ground" to="/localization/map/ground"/>
     </node>
 
     <!-- pose to path -->
-    <node name="pose_to_path" pkg="path_monitor" exec="pose_to_path" output="log" args="--ros-args --log-level warn">
+    <node name="pose_to_path" pkg="path_monitor" exec="pose_to_path_node" output="log" args="--ros-args --log-level warn">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
         <param name="sub_topics" value="[/sensing/gnss/ublox/pose,/localization/pf/pose]"/>
         <param name="pub_topics" value="[/sensing/gnss/ublox/path,/localization/pf/path]"/>

diff --git a/localization/yabloc/pcdless_launch/launch/pcdless.launch.xml b/localization/yabloc/pcdless_launch/launch/pcdless.launch.xml
@@ -74,7 +74,7 @@
 
         <!-- septentrio ublox converter -->
         <group if="$(var use_septentrio)">
-            <node name="doppler_converter" pkg="doppler_converter" exec="doppler_converter"/>
+            <node name="doppler_converter" pkg="doppler_converter" exec="doppler_converter_node"/>
         </group>
     </group>
 </launch>
diff --git a/localization/yabloc/pcdless_launch/launch/pcdless_multi_camera.launch.xml b/localization/yabloc/pcdless_launch/launch/pcdless_multi_camera.launch.xml
@@ -95,7 +95,7 @@
 
         <!-- septentrio ublox converter -->
         <group if="$(var use_septentrio)">
-            <node name="doppler_converter" pkg="doppler_converter" exec="doppler_converter"/>
+            <node name="doppler_converter" pkg="doppler_converter" exec="doppler_converter_node"/>
         </group>
     </group>
 </launch>
diff --git a/localization/yabloc/twist/doppler_converter/CMakeLists.txt b/localization/yabloc/twist/doppler_converter/CMakeLists.txt
@@ -17,7 +17,7 @@ ament_auto_find_build_dependencies()
 
 # ===================================================
 # Executable
-ament_auto_add_executable(doppler_converter src/doppler_converter.cpp)
+ament_auto_add_executable(doppler_converter_node src/doppler_converter_node.cpp)
 
 # ===================================================
 ament_auto_package()
diff --git a/...ppler_converter/src/doppler_converter.cpp → ..._converter/src/doppler_converter_node.cpp b/...ppler_converter/src/doppler_converter.cpp → ..._converter/src/doppler_converter_node.cpp
diff --git a/localization/yabloc/twist/twist_converter/CMakeLists.txt b/localization/yabloc/twist/twist_converter/CMakeLists.txt
@@ -21,24 +21,11 @@ find_package(Eigen3 REQUIRED)
 
 # ===================================================
 # Executable
-macro(ADD_EXE)
-  cmake_parse_arguments(_ARG "" "TARGET" "SRC;LIB;INC" ${ARGN})
+set(TARGET velocity_report_converter_node)
+ament_auto_add_executable(${TARGET} src/velocity_report_node.cpp)
 
-  set(SOURCE "")
-
-  foreach(QUERY IN ITEMS ${_ARG_SRC})
-    file(GLOB SOURCE_TMP ${QUERY})
-    set(SOURCE "${SOURCE};${SOURCE_TMP}")
-  endforeach()
-
-  set(TARGET_NAME ${_ARG_TARGET})
-  ament_auto_add_executable(${TARGET_NAME} ${SOURCE})
-  target_include_directories(${TARGET_NAME} PUBLIC ${_ARG_INC})
-  target_link_libraries(${TARGET_NAME} ${_ARG_LIB})
-endmacro()
-
-ADD_EXE(TARGET velocity_report_converter SRC src/velocity_report_node.cpp INC include)
-ADD_EXE(TARGET pose_twist_fuser SRC src/pose_twist_fuse_node.cpp INC include)
+set(TARGET pose_twist_fuser_node)
+ament_auto_add_executable(${TARGET} src/pose_twist_fuser_node.cpp)
 
 # ===================================================
 ament_auto_package()
diff --git a/...st_converter/src/pose_twist_fuse_node.cpp → ...t_converter/src/pose_twist_fuser_node.cpp b/...st_converter/src/pose_twist_fuse_node.cpp → ...t_converter/src/pose_twist_fuser_node.cpp