Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

refactor(behavior_velocity_planner): simplify CMakeLists.txt #855

Merged
merged 1 commit into from
May 9, 2022
Merged

refactor(behavior_velocity_planner): simplify CMakeLists.txt #855

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
296 changes: 27 additions & 269 deletions planning/behavior_velocity_planner/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,292 +11,50 @@ find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED COMPONENTS common)
find_package(OpenCV REQUIRED)

set(BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES
tier4_api_msgs
autoware_auto_perception_msgs
autoware_auto_planning_msgs
tier4_planning_msgs
tier4_autoware_utils
Boost
Eigen3
diagnostic_msgs
geometry_msgs
lanelet2_extension
PCL
pcl_conversions
rclcpp
sensor_msgs
interpolation
tf2
tf2_eigen
tf2_geometry_msgs
tf2_ros
vehicle_info_util
visualization_msgs
nav_msgs
grid_map_ros
)
set(scene_modules
detection_area
blind_spot
stop_line
crosswalk
traffic_light
intersection
no_stopping_area
virtual_traffic_light
occlusion_spot
)

foreach(scene_module IN LISTS scene_modules)
file(GLOB_RECURSE scene_module_src "src/scene_module/${scene_module}/*")
list(APPEND scene_modules_src ${scene_module_src})
endforeach()


# Common
ament_auto_add_library(scene_module_lib SHARED
ament_auto_add_library(behavior_velocity_planner SHARED
src/node.cpp
src/planner_manager.cpp
src/utilization/path_utilization.cpp
src/utilization/util.cpp
${scene_modules_src}
)

target_include_directories(scene_module_lib
target_include_directories(behavior_velocity_planner
SYSTEM PUBLIC
${BOOST_INCLUDE_DIRS}
${tf2_geometry_msgs_INCLUDE_DIRS}
)

target_include_directories(scene_module_lib
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)

target_include_directories(scene_module_lib
SYSTEM PUBLIC
${PCL_INCLUDE_DIRS}
)

ament_target_dependencies(scene_module_lib ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})

# Scene Module: Stop Line
ament_auto_add_library(scene_module_stop_line SHARED
src/scene_module/stop_line/manager.cpp
src/scene_module/stop_line/scene.cpp
src/scene_module/stop_line/debug.cpp
)

target_include_directories(scene_module_stop_line
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)

ament_target_dependencies(scene_module_stop_line ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})

target_link_libraries(scene_module_stop_line scene_module_lib)

# Scene Module: Crosswalk
ament_auto_add_library(scene_module_crosswalk SHARED
src/scene_module/crosswalk/manager.cpp
src/scene_module/crosswalk/scene_crosswalk.cpp
src/scene_module/crosswalk/scene_walkway.cpp
src/scene_module/crosswalk/debug.cpp
src/scene_module/crosswalk/util.cpp
)

target_include_directories(scene_module_crosswalk
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)

ament_target_dependencies(scene_module_crosswalk ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})

target_link_libraries(scene_module_crosswalk scene_module_lib)

# Scene Module: Intersection
ament_auto_add_library(scene_module_intersection SHARED
src/scene_module/intersection/manager.cpp
src/scene_module/intersection/scene_intersection.cpp
src/scene_module/intersection/scene_merge_from_private_road.cpp
src/scene_module/intersection/debug.cpp
src/scene_module/intersection/util.cpp
)

target_include_directories(scene_module_intersection
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)

ament_target_dependencies(scene_module_intersection ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})

target_link_libraries(scene_module_intersection scene_module_lib)

# Scene Module: Traffic Light
ament_auto_add_library(scene_module_traffic_light SHARED
src/scene_module/traffic_light/manager.cpp
src/scene_module/traffic_light/scene.cpp
src/scene_module/traffic_light/debug.cpp
)

target_include_directories(scene_module_traffic_light
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)

ament_target_dependencies(scene_module_traffic_light ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})

target_link_libraries(scene_module_traffic_light scene_module_lib)

# Scene Module: Blind Spot
ament_auto_add_library(scene_module_blind_spot SHARED
src/scene_module/blind_spot/manager.cpp
src/scene_module/blind_spot/scene.cpp
src/scene_module/blind_spot/debug.cpp
)

target_include_directories(scene_module_blind_spot
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)

ament_target_dependencies(scene_module_blind_spot ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})

target_link_libraries(scene_module_blind_spot scene_module_lib)

# Scene Module: Detection Area
ament_auto_add_library(scene_module_detection_area SHARED
src/scene_module/detection_area/manager.cpp
src/scene_module/detection_area/scene.cpp
src/scene_module/detection_area/debug.cpp
)

target_include_directories(scene_module_detection_area
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)

ament_target_dependencies(scene_module_detection_area ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})

target_link_libraries(scene_module_detection_area scene_module_lib)

# Scene Module: No Stopping Area
ament_auto_add_library(scene_module_no_stopping_area SHARED
src/scene_module/no_stopping_area/manager.cpp
src/scene_module/no_stopping_area/scene_no_stopping_area.cpp
src/scene_module/no_stopping_area/debug.cpp
)

target_include_directories(scene_module_no_stopping_area
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)

ament_target_dependencies(scene_module_no_stopping_area ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})

target_link_libraries(scene_module_no_stopping_area scene_module_lib)

# Scene Module: Virtual Traffic Light
ament_auto_add_library(scene_module_virtual_traffic_light SHARED
src/scene_module/virtual_traffic_light/manager.cpp
src/scene_module/virtual_traffic_light/scene.cpp
src/scene_module/virtual_traffic_light/debug.cpp
)

target_include_directories(scene_module_virtual_traffic_light
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)

ament_target_dependencies(scene_module_virtual_traffic_light ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})

target_link_libraries(scene_module_virtual_traffic_light scene_module_lib)

# SceneModule OcclusionSpot
# Util
ament_auto_add_library(occlusion_spot_lib SHARED
src/scene_module/occlusion_spot/grid_utils.cpp
src/scene_module/occlusion_spot/occlusion_spot_utils.cpp
src/scene_module/occlusion_spot/risk_predictive_braking.cpp
)

target_include_directories(occlusion_spot_lib
SYSTEM PUBLIC
${BOOST_INCLUDE_DIRS}
${tf2_geometry_msgs_INCLUDE_DIRS}
)

target_include_directories(occlusion_spot_lib
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)

ament_target_dependencies(occlusion_spot_lib ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})

ament_auto_add_library(scene_module_occlusion_spot SHARED
src/scene_module/occlusion_spot/manager.cpp
src/scene_module/occlusion_spot/debug.cpp
src/scene_module/occlusion_spot/scene_occlusion_spot.cpp
)

target_include_directories(scene_module_occlusion_spot
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)

ament_target_dependencies(scene_module_occlusion_spot ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})

target_link_libraries(scene_module_occlusion_spot scene_module_lib occlusion_spot_lib)

# Scene Module Manager
ament_auto_add_library(scene_module_manager SHARED
src/planner_manager.cpp
)

target_include_directories(scene_module_manager
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)

ament_target_dependencies(scene_module_manager ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})

target_link_libraries(scene_module_manager scene_module_lib)

# Node
ament_auto_add_library(behavior_velocity_planner SHARED
src/node.cpp
)

target_include_directories(behavior_velocity_planner
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)

ament_target_dependencies(behavior_velocity_planner ${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})

target_link_libraries(behavior_velocity_planner
scene_module_lib
scene_module_stop_line
scene_module_crosswalk
scene_module_intersection
scene_module_traffic_light
scene_module_blind_spot
scene_module_occlusion_spot
scene_module_detection_area
scene_module_no_stopping_area
scene_module_virtual_traffic_light
scene_module_manager
ament_target_dependencies(behavior_velocity_planner
Boost
Eigen3
PCL
)

ament_export_dependencies(${BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES})

rclcpp_components_register_node(behavior_velocity_planner
PLUGIN "behavior_velocity_planner::BehaviorVelocityPlannerNode"
EXECUTABLE behavior_velocity_planner_node
)


if(BUILD_TESTING)
# utils for test
ament_auto_add_library(utilization SHARED
src/utilization/util.cpp
)

# Gtest for utilization
ament_add_gtest(utilization-test
test/src/test_state_machine.cpp
Expand All @@ -305,7 +63,7 @@ if(BUILD_TESTING)
)
target_link_libraries(utilization-test
gtest_main
utilization
behavior_velocity_planner
)

# Gtest for occlusion spot
Expand All @@ -316,7 +74,7 @@ if(BUILD_TESTING)
)
target_link_libraries(occlusion_spot-test
gtest_main
scene_module_occlusion_spot
behavior_velocity_planner
)
endif()

Expand Down