From af8162025bfa1a18dea611ca11708db985cfc939 Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Thu, 27 Apr 2023 14:26:06 +0900 Subject: [PATCH] refactor(CMakeListx.txt): just refactoring (#24) * refactor imgproc/*/CMakeListx.txt Signed-off-by: Kento Yabuuchi * refactor initializer/*/CMakeListx.txt & add gnss_pose_initializer pkg Signed-off-by: Kento Yabuuchi * rename some files in twist/ & refactor pf/*/cmakelist Signed-off-by: Kento Yabuuchi * refactor validation/*/CMakeListx.txt Signed-off-by: Kento Yabuuchi * fix some obsolete executor name Signed-off-by: Kento Yabuuchi --------- Signed-off-by: Kento Yabuuchi --- .../imgproc/graph_segment/CMakeLists.txt | 7 ++-- .../yabloc/imgproc/lsd/CMakeLists.txt | 22 +++---------- .../imgproc/segment_filter/CMakeLists.txt | 28 ++++------------ .../yabloc/imgproc/undistort/CMakeLists.txt | 26 ++------------- .../camera_pose_initializer/CMakeLists.txt | 9 +++--- .../gnss_pose_initializer/CMakeLists.txt | 32 +++++++++++++++++++ .../gnss_pose_initializer/package.xml | 21 ++++++++++++ .../src/gnss_pose_initializer_node.cpp} | 0 .../particle_initializer/CMakeLists.txt | 8 ----- .../camera_particle_corrector/CMakeLists.txt | 2 +- .../gnss_particle_corrector/CMakeLists.txt | 9 +++--- .../ll2_cost_map/CMakeLists.txt | 2 +- .../launch/impl/initializer.launch.xml | 4 +-- .../pcdless_launch/launch/impl/pf.launch.xml | 4 +-- .../launch/impl/twist.launch.xml | 2 +- .../launch/impl/validation.launch.xml | 4 +-- .../pcdless_launch/launch/pcdless.launch.xml | 2 +- .../launch/pcdless_multi_camera.launch.xml | 2 +- .../twist/doppler_converter/CMakeLists.txt | 2 +- ...nverter.cpp => doppler_converter_node.cpp} | 0 .../twist/twist_converter/CMakeLists.txt | 21 +++--------- ...use_node.cpp => pose_twist_fuser_node.cpp} | 0 .../twist/twist_estimator/CMakeLists.txt | 27 ++++++---------- .../validation/ape_monitor/CMakeLists.txt | 27 +++------------- .../ape_monitor/include/ape/ape.hpp | 2 +- .../covariance_monitor/CMakeLists.txt | 21 +++--------- .../covariance_monitor/covariance_monitor.hpp | 3 +- .../validation/overlay_monitor/CMakeLists.txt | 23 +++---------- .../validation/path_monitor/CMakeLists.txt | 31 ++++++------------ 29 files changed, 130 insertions(+), 211 deletions(-) create mode 100644 localization/yabloc/initializer/gnss_pose_initializer/CMakeLists.txt create mode 100644 localization/yabloc/initializer/gnss_pose_initializer/package.xml rename localization/yabloc/initializer/{particle_initializer/src/gnss_based_initializer.cpp => gnss_pose_initializer/src/gnss_pose_initializer_node.cpp} (100%) rename localization/yabloc/twist/doppler_converter/src/{doppler_converter.cpp => doppler_converter_node.cpp} (100%) rename localization/yabloc/twist/twist_converter/src/{pose_twist_fuse_node.cpp => pose_twist_fuser_node.cpp} (100%) diff --git a/localization/yabloc/imgproc/graph_segment/CMakeLists.txt b/localization/yabloc/imgproc/graph_segment/CMakeLists.txt index e31d02c9e3441..a287f0e376e64 100644 --- 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() \ No newline at end of file diff --git a/localization/yabloc/imgproc/lsd/CMakeLists.txt b/localization/yabloc/imgproc/lsd/CMakeLists.txt index 736b31ce82470..c5944f6e5b3e0 100644 --- 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() \ No newline at end of file diff --git a/localization/yabloc/imgproc/segment_filter/CMakeLists.txt b/localization/yabloc/imgproc/segment_filter/CMakeLists.txt index a8415cc9dd859..423873cb7b2e4 100644 --- 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() \ No newline at end of file diff --git a/localization/yabloc/imgproc/undistort/CMakeLists.txt b/localization/yabloc/imgproc/undistort/CMakeLists.txt index 6d388662ba29d..141366da74952 100644 --- 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} ${OpenCV_LIBS}) # =================================================== ament_auto_package(INSTALL_TO_SHARE launch) \ No newline at end of file diff --git a/localization/yabloc/initializer/camera_pose_initializer/CMakeLists.txt b/localization/yabloc/initializer/camera_pose_initializer/CMakeLists.txt index 8041b32d49b77..b12b90a7bcd37 100644 --- a/localization/yabloc/initializer/camera_pose_initializer/CMakeLists.txt +++ b/localization/yabloc/initializer/camera_pose_initializer/CMakeLists.txt @@ -28,16 +28,17 @@ find_package(Sophus REQUIRED) # =================================================== # Executable -ament_auto_add_executable(${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} ${PCL_LIBRARIES} Sophus::Sophus) # =================================================== ament_auto_package() diff --git a/localization/yabloc/initializer/gnss_pose_initializer/CMakeLists.txt b/localization/yabloc/initializer/gnss_pose_initializer/CMakeLists.txt new file mode 100644 index 0000000000000..bfba714e047a0 --- /dev/null +++ b/localization/yabloc/initializer/gnss_pose_initializer/CMakeLists.txt @@ -0,0 +1,32 @@ +cmake_minimum_required(VERSION 3.5) +project(gnss_pose_initializer) + +if(NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 17) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif() + +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + # add_compile_options(-Wall -Wextra -Wpedantic -Werror) + add_compile_options(-Wall -Wextra -Wpedantic) +endif() + +# =================================================== +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +# =================================================== +# Eigen3 +find_package(Eigen3 REQUIRED) + +# =================================================== +# Executable +set(TARGET gnss_pose_initializer_node) +ament_auto_add_executable(${TARGET} + src/gnss_pose_initializer_node.cpp) +target_include_directories(${TARGET} PUBLIC include) +target_include_directories(${TARGET} SYSTEM PRIVATE ${EIGEN3_INCLUDE_DIRS}) + +# =================================================== +ament_auto_package() diff --git a/localization/yabloc/initializer/gnss_pose_initializer/package.xml b/localization/yabloc/initializer/gnss_pose_initializer/package.xml new file mode 100644 index 0000000000000..4592362af8c45 --- /dev/null +++ b/localization/yabloc/initializer/gnss_pose_initializer/package.xml @@ -0,0 +1,21 @@ + + + gnss_pose_initializer + 0.0.0 + The pose initializer based on gnns doppler + Kento Yabuuchi + Apache License 2.0 + + ament_cmake_ros + + rclcpp + geometry_msgs + sensor_msgs + ublox_msgs + + pcdless_common + + + ament_cmake + + diff --git a/localization/yabloc/initializer/particle_initializer/src/gnss_based_initializer.cpp b/localization/yabloc/initializer/gnss_pose_initializer/src/gnss_pose_initializer_node.cpp similarity index 100% rename from localization/yabloc/initializer/particle_initializer/src/gnss_based_initializer.cpp rename to localization/yabloc/initializer/gnss_pose_initializer/src/gnss_pose_initializer_node.cpp diff --git a/localization/yabloc/initializer/particle_initializer/CMakeLists.txt b/localization/yabloc/initializer/particle_initializer/CMakeLists.txt index 299efe5f08a51..cbf8d5a547602 100644 --- a/localization/yabloc/initializer/particle_initializer/CMakeLists.txt +++ b/localization/yabloc/initializer/particle_initializer/CMakeLists.txt @@ -19,9 +19,6 @@ ament_auto_find_build_dependencies() # Eigen3 find_package(Eigen3 REQUIRED) -# PCL -find_package(PCL REQUIRED COMPONENTS common kdtree) - # =================================================== # Executable set(TARGET particle_initializer_node) @@ -29,11 +26,6 @@ ament_auto_add_executable(${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 ${EIGEN3_INCLUDE_DIRS}) # =================================================== diff --git a/localization/yabloc/particle_filter/camera_particle_corrector/CMakeLists.txt b/localization/yabloc/particle_filter/camera_particle_corrector/CMakeLists.txt index 0a80d2a4b4667..f819bee2c1ec6 100644 --- a/localization/yabloc/particle_filter/camera_particle_corrector/CMakeLists.txt +++ b/localization/yabloc/particle_filter/camera_particle_corrector/CMakeLists.txt @@ -31,7 +31,7 @@ find_package(glog REQUIRED) # =================================================== # Executable -set(TARGET camera_particle_corrector) +set(TARGET camera_particle_corrector_node) ament_auto_add_executable(${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 index 3c0af7f6021c8..219b1392f119d 100644 --- 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() \ No newline at end of file diff --git a/localization/yabloc/particle_filter/ll2_cost_map/CMakeLists.txt b/localization/yabloc/particle_filter/ll2_cost_map/CMakeLists.txt index 88d74c2de5588..463ca21374a9f 100644 --- 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 index f8c0873bff873..11cb18bf54987 100644 --- a/localization/yabloc/pcdless_launch/launch/impl/initializer.launch.xml +++ b/localization/yabloc/pcdless_launch/launch/impl/initializer.launch.xml @@ -3,7 +3,7 @@ - + @@ -11,7 +11,7 @@ - + diff --git a/localization/yabloc/pcdless_launch/launch/impl/pf.launch.xml b/localization/yabloc/pcdless_launch/launch/impl/pf.launch.xml index 210d49c627adc..d6323001ed22c 100644 --- a/localization/yabloc/pcdless_launch/launch/impl/pf.launch.xml +++ b/localization/yabloc/pcdless_launch/launch/impl/pf.launch.xml @@ -47,7 +47,7 @@ - + @@ -68,7 +68,7 @@ - + diff --git a/localization/yabloc/pcdless_launch/launch/impl/twist.launch.xml b/localization/yabloc/pcdless_launch/launch/impl/twist.launch.xml index 6c82eddc4ff3b..e52cb32000433 100644 --- a/localization/yabloc/pcdless_launch/launch/impl/twist.launch.xml +++ b/localization/yabloc/pcdless_launch/launch/impl/twist.launch.xml @@ -29,7 +29,7 @@ - + diff --git a/localization/yabloc/pcdless_launch/launch/impl/validation.launch.xml b/localization/yabloc/pcdless_launch/launch/impl/validation.launch.xml index ca0293780daef..764ac8ee26ae4 100644 --- a/localization/yabloc/pcdless_launch/launch/impl/validation.launch.xml +++ b/localization/yabloc/pcdless_launch/launch/impl/validation.launch.xml @@ -20,7 +20,7 @@ - + @@ -28,7 +28,7 @@ - + diff --git a/localization/yabloc/pcdless_launch/launch/pcdless.launch.xml b/localization/yabloc/pcdless_launch/launch/pcdless.launch.xml index 189995f334243..7676a6e3c18d3 100644 --- a/localization/yabloc/pcdless_launch/launch/pcdless.launch.xml +++ b/localization/yabloc/pcdless_launch/launch/pcdless.launch.xml @@ -74,7 +74,7 @@ - + \ No newline at end of file diff --git a/localization/yabloc/pcdless_launch/launch/pcdless_multi_camera.launch.xml b/localization/yabloc/pcdless_launch/launch/pcdless_multi_camera.launch.xml index 8bd82545660d4..53a095aecccec 100644 --- 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 @@ - + \ No newline at end of file diff --git a/localization/yabloc/twist/doppler_converter/CMakeLists.txt b/localization/yabloc/twist/doppler_converter/CMakeLists.txt index 564ede50c935f..c76598d44939d 100644 --- 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/localization/yabloc/twist/doppler_converter/src/doppler_converter.cpp b/localization/yabloc/twist/doppler_converter/src/doppler_converter_node.cpp similarity index 100% rename from localization/yabloc/twist/doppler_converter/src/doppler_converter.cpp rename to localization/yabloc/twist/doppler_converter/src/doppler_converter_node.cpp diff --git a/localization/yabloc/twist/twist_converter/CMakeLists.txt b/localization/yabloc/twist/twist_converter/CMakeLists.txt index 5782c14a24412..71722e5922156 100644 --- 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/localization/yabloc/twist/twist_converter/src/pose_twist_fuse_node.cpp b/localization/yabloc/twist/twist_converter/src/pose_twist_fuser_node.cpp similarity index 100% rename from localization/yabloc/twist/twist_converter/src/pose_twist_fuse_node.cpp rename to localization/yabloc/twist/twist_converter/src/pose_twist_fuser_node.cpp diff --git a/localization/yabloc/twist/twist_estimator/CMakeLists.txt b/localization/yabloc/twist/twist_estimator/CMakeLists.txt index 36d0abef8b9f7..5480560dcf128 100644 --- a/localization/yabloc/twist/twist_estimator/CMakeLists.txt +++ b/localization/yabloc/twist/twist_estimator/CMakeLists.txt @@ -32,24 +32,15 @@ set(CMAKE_NO_SYSTEM_FROM_IMPORTED FALSE) # =================================================== # 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 ${_ARG_INC}) - target_link_libraries(${TARGET_NAME} ${_ARG_LIB} Sophus::Sophus) -endmacro() - -ADD_EXE(TARGET twist_estimator_node SRC src/twist_estimator_*.cpp INC include) -ADD_EXE(TARGET twist_visualizer_node SRC src/twist_visualizer_*.cpp INC include) +set(TARGET twist_estimator_node) +ament_auto_add_executable(${TARGET} src/twist_estimator_node.cpp src/twist_estimator_core.cpp) +target_include_directories(${TARGET} PUBLIC include) +target_link_libraries(${TARGET} Sophus::Sophus) + +set(TARGET twist_visualizer_node) +ament_auto_add_executable(${TARGET} src/twist_visualizer_node.cpp src/twist_visualizer_core.cpp) +target_include_directories(${TARGET} PUBLIC include) +target_link_libraries(${TARGET} Sophus::Sophus) # =================================================== ament_auto_package() diff --git a/localization/yabloc/validation/ape_monitor/CMakeLists.txt b/localization/yabloc/validation/ape_monitor/CMakeLists.txt index 14b3011e74337..69862da1e30c9 100644 --- a/localization/yabloc/validation/ape_monitor/CMakeLists.txt +++ b/localization/yabloc/validation/ape_monitor/CMakeLists.txt @@ -19,31 +19,12 @@ ament_auto_find_build_dependencies() # Eigen3 find_package(Eigen3 REQUIRED) -# PCL -find_package(PCL REQUIRED) - -# Sophus -find_package(Sophus 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} ${EIGEN_INCLUDE_DIRS}) - target_link_libraries(${TARGET_NAME} ${_ARG_LIB} Sophus::Sophus) -endmacro() - -ADD_EXE(TARGET ape_node SRC src/ape_node.cpp INC include) +set(TARGET ape_monitor_node) +ament_auto_add_executable(${TARGET} src/ape_node.cpp) +target_include_directories(${TARGET} PUBLIC include ${EIGEN_INCLUDE_DIRS}) +target_link_libraries(${TARGET}) # =================================================== ament_auto_package() diff --git a/localization/yabloc/validation/ape_monitor/include/ape/ape.hpp b/localization/yabloc/validation/ape_monitor/include/ape/ape.hpp index 391d30ba5b31a..1e9b89385d14d 100644 --- a/localization/yabloc/validation/ape_monitor/include/ape/ape.hpp +++ b/localization/yabloc/validation/ape_monitor/include/ape/ape.hpp @@ -13,7 +13,7 @@ // limitations under the License. #pragma once -#include +#include #include #include diff --git a/localization/yabloc/validation/covariance_monitor/CMakeLists.txt b/localization/yabloc/validation/covariance_monitor/CMakeLists.txt index 4cf50cb52ba15..4d59c1bc7609d 100644 --- a/localization/yabloc/validation/covariance_monitor/CMakeLists.txt +++ b/localization/yabloc/validation/covariance_monitor/CMakeLists.txt @@ -24,23 +24,10 @@ find_package(Sophus 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} ${EIGEN_INCLUDE_DIRS}) - target_link_libraries(${TARGET_NAME} ${_ARG_LIB} Sophus::Sophus) -endmacro() - -ADD_EXE(TARGET covariance_node SRC src/covariance_*.cpp INC include) +set(TARGET covariance_monitor_node) +ament_auto_add_executable(${TARGET} src/covariance_node.cpp) +target_include_directories(${TARGET} PUBLIC include ${EIGEN_INCLUDE_DIRS}) +target_link_libraries(${TARGET} Sophus::Sophus) # =================================================== ament_auto_package() diff --git a/localization/yabloc/validation/covariance_monitor/include/covariance_monitor/covariance_monitor.hpp b/localization/yabloc/validation/covariance_monitor/include/covariance_monitor/covariance_monitor.hpp index 97abbea37298d..789227da855ef 100644 --- a/localization/yabloc/validation/covariance_monitor/include/covariance_monitor/covariance_monitor.hpp +++ b/localization/yabloc/validation/covariance_monitor/include/covariance_monitor/covariance_monitor.hpp @@ -13,7 +13,8 @@ // limitations under the License. #pragma once -#include +#include +#include #include #include diff --git a/localization/yabloc/validation/overlay_monitor/CMakeLists.txt b/localization/yabloc/validation/overlay_monitor/CMakeLists.txt index 2368312b6f444..e0bd9c867e07f 100644 --- a/localization/yabloc/validation/overlay_monitor/CMakeLists.txt +++ b/localization/yabloc/validation/overlay_monitor/CMakeLists.txt @@ -27,24 +27,11 @@ find_package(Sophus 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 ${_ARG_INC}) - target_include_directories(${TARGET_NAME} SYSTEM PUBLIC ${EIGEN_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS}) - target_link_libraries(${TARGET_NAME} ${_ARG_LIB} Sophus::Sophus ${PCL_LIBRARIES}) -endmacro() - -ADD_EXE(TARGET overlay_node SRC src/overlay_*.cpp) +set(TARGET overlay_node) +ament_auto_add_executable(${TARGET} src/overlay_core.cpp src/overlay_node.cpp) +target_include_directories(${TARGET} PUBLIC include) +target_include_directories(${TARGET} SYSTEM PUBLIC ${EIGEN_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS}) +target_link_libraries(${TARGET} Sophus::Sophus ${PCL_LIBRARIES}) # =================================================== ament_auto_package() diff --git a/localization/yabloc/validation/path_monitor/CMakeLists.txt b/localization/yabloc/validation/path_monitor/CMakeLists.txt index a7a2ae824e3a9..2e97fb8c45bab 100644 --- a/localization/yabloc/validation/path_monitor/CMakeLists.txt +++ b/localization/yabloc/validation/path_monitor/CMakeLists.txt @@ -19,30 +19,17 @@ ament_auto_find_build_dependencies() # Eigen3 find_package(Eigen3 REQUIRED) -# PCL -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 ${_ARG_INC}) - target_include_directories(${TARGET_NAME} SYSTEM PUBLIC ${EIGEN_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS}) - target_link_libraries(${TARGET_NAME} ${_ARG_LIB}) -endmacro() - -ADD_EXE(TARGET fix_to_pose SRC src/fix_to_pose_node.cpp INC include) -ADD_EXE(TARGET pose_to_path SRC src/pose_to_path_node.cpp INC include) +set(TARGET fix_to_pose_node) +ament_auto_add_executable(${TARGET} src/fix_to_pose_node.cpp) +target_include_directories(${TARGET} PUBLIC include) +target_include_directories(${TARGET} SYSTEM PUBLIC ${EIGEN_INCLUDE_DIRS}) + +set(TARGET pose_to_path_node) +ament_auto_add_executable(${TARGET} src/pose_to_path_node.cpp) +target_include_directories(${TARGET} PUBLIC include) +target_include_directories(${TARGET} SYSTEM PUBLIC ${EIGEN_INCLUDE_DIRS}) # =================================================== ament_auto_package()