diff --git a/common/autoware_ad_api_msgs/CMakeLists.txt b/common/autoware_ad_api_msgs/CMakeLists.txt index 74f2196f189c0..8ea4fbd663595 100644 --- a/common/autoware_ad_api_msgs/CMakeLists.txt +++ b/common/autoware_ad_api_msgs/CMakeLists.txt @@ -1,8 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(autoware_ad_api_msgs) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() rosidl_generate_interfaces(${PROJECT_NAME} srv/InterfaceVersion.srv @@ -12,9 +12,4 @@ rosidl_generate_interfaces(${PROJECT_NAME} geometry_msgs ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package() diff --git a/common/autoware_ad_api_msgs/package.xml b/common/autoware_ad_api_msgs/package.xml index 568b665ec0631..db10bd2cdb877 100644 --- a/common/autoware_ad_api_msgs/package.xml +++ b/common/autoware_ad_api_msgs/package.xml @@ -9,12 +9,13 @@ ament_cmake_auto - geometry_msgs - std_msgs - + autoware_cmake builtin_interfaces rosidl_default_generators + geometry_msgs + std_msgs + builtin_interfaces rosidl_default_runtime diff --git a/common/autoware_auto_cmake/CMakeLists.txt b/common/autoware_auto_cmake/CMakeLists.txt deleted file mode 100644 index 39152d2222082..0000000000000 --- a/common/autoware_auto_cmake/CMakeLists.txt +++ /dev/null @@ -1,18 +0,0 @@ -cmake_minimum_required(VERSION 3.5) - -project(autoware_auto_cmake NONE) - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -list(APPEND ${PROJECT_NAME}_CONFIG_EXTRAS - "autoware_auto_cmake-extras.cmake" -) - -if(BUILD_TESTING) - ament_lint_cmake(${CMAKE_CURRENT_SOURCE_DIR}) -endif() - -ament_auto_package(INSTALL_TO_SHARE - cmake -) diff --git a/common/autoware_auto_cmake/autoware_auto_cmake-extras.cmake b/common/autoware_auto_cmake/autoware_auto_cmake-extras.cmake deleted file mode 100644 index 2d53ccda8293b..0000000000000 --- a/common/autoware_auto_cmake/autoware_auto_cmake-extras.cmake +++ /dev/null @@ -1,16 +0,0 @@ -# Copyright 2018 the Autoware Foundation -# Co-developed by Tier IV, Inc. and Apex.AI, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -include("${autoware_auto_cmake_DIR}/autoware_auto_cmake.cmake") diff --git a/common/autoware_auto_cmake/cmake/autoware_auto_cmake.cmake b/common/autoware_auto_cmake/cmake/autoware_auto_cmake.cmake deleted file mode 100644 index 95d5e08684322..0000000000000 --- a/common/autoware_auto_cmake/cmake/autoware_auto_cmake.cmake +++ /dev/null @@ -1,111 +0,0 @@ -# Copyright 2021 the Autoware Foundation -# Co-developed by Tier IV, Inc. and Apex.AI, Inc. -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -# Set language standard with variables instead of per target so even targets that -# don't use autoware_set_compile_options() have this set when importing -# autoware_auto_cmake via ament_auto_find_build_dependencies() -if(NOT CMAKE_C_STANDARD) - # Default to C11 (rcutils uses C11 thread local storage) - set(CMAKE_C_STANDARD 11) - set(CMAKE_C_STANDARD_REQUIRED ON) - set(CMAKE_C_EXTENSIONS OFF) -endif() - -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() - -# Get user-provided variables -set(DOWNLOAD_ARTIFACTS OFF CACHE BOOL "enable artifact download") - -# Clang tidy -if(TIDY_WITH_CLANG) - string(CONCAT CMAKE_CXX_CLANG_TIDY - "clang-tidy;" - "-checks=-*," - "bugprone-*," - "cert-*," - "cppcoreguidelines-*," - "clang-analyze-*," - "google-*," - "hicpp-*," - "modernize-*," - "performance-*," - "readability-*") -endif() - -# Try to adhere to strict ISO C++ as much as possible: -# from https://lefticus.gitbooks.io/cpp-best-practices/content/02-Use_the_Tools_Available.html -function(autoware_set_compile_options target) - - if(CMAKE_CXX_COMPILER_ID MATCHES "MSVC") - # Causes the visibility macros to use dllexport rather than dllimport, - # which is appropriate when building the dll but not consuming it. - string(TOUPPER ${target} PROJECT_NAME_UPPER) - target_compile_options(${target} PRIVATE "/bigobj") - target_compile_definitions(${target} PRIVATE - ${PROJECT_NAME_UPPER}_BUILDING_DLL - -D_CRT_NONSTDC_NO_WARNINGS - -D_CRT_SECURE_NO_WARNINGS - -D_WINSOCK_DEPRECATED_NO_WARNINGS) - endif() - - if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - target_compile_options(${target} PRIVATE - -Wall - -Werror - -Wextra - #-Wshadow # causes issues with ROS 2 headers - #-Wnon-virtual-dtor # causes issues with ROS 2 headers - -pedantic - -Wcast-align - -Wunused - -Wconversion - -Wsign-conversion - -Wdouble-promotion - -Waddress - #-Wnull-dereference # gcc6 - #-Wduplicated-branches # gcc7 - #-Wduplicated-cond # gcc6 - #-Wrestrict # gcc7 - -fvisibility=hidden) - # C++-only options - target_compile_options(${target} - PRIVATE $<$: -Woverloaded-virtual -Wold-style-cast>) - endif() - - if(CMAKE_COMPILER_IS_GNUCXX) - target_compile_options(${target} - PUBLIC $<$: -Wuseless-cast>) - target_compile_options(${target} PRIVATE -Wlogical-op -frecord-gcc-switches) - endif() - -endfunction() - -# Turn off optimization compiler flags for `target` unless the variable `AUTOWARE_OPTIMIZATION_OF_SLOW_TARGETS` is -# defined and evaluates to `true` in a boolean context. -function(autoware_turn_off_optimization target) - - if(AUTOWARE_OPTIMIZATION_OF_SLOW_TARGETS) - # do nothing - else() - if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - target_compile_options(${target} PRIVATE -O0) - endif() - endif() - -endfunction() diff --git a/common/autoware_auto_cmake/design/autoware_auto_cmake-design.md b/common/autoware_auto_cmake/design/autoware_auto_cmake-design.md deleted file mode 100644 index 8946a02f8d951..0000000000000 --- a/common/autoware_auto_cmake/design/autoware_auto_cmake-design.md +++ /dev/null @@ -1,27 +0,0 @@ -# autoware_auto_cmake {#autoware-auto-cmake-design} - -This is the design document for the `autoware_auto_cmake` package. - -## Purpose - -Provide common CMake variables and functions to Autoware packages. - -Those include: - -- Setting the language standard -- Getting user-provided variables -- Providing functions to: - - set compiler flags - - turn off optimizations - -## Design - -### Usage - -Add `autoware_auto_cmake` as a "build_depend" in the dependent packages. - -#### CMake variables {#cmake-config-variables} - -| Name | Type | Descritpion | Default | -| -------------------- | ------ | ------------------------------------------ | ------- | -| `DOWNLOAD_ARTIFACTS` | _BOOL_ | Allow downloading artifacts at build time. | `OFF` | diff --git a/common/autoware_auto_cmake/package.xml b/common/autoware_auto_cmake/package.xml deleted file mode 100644 index 0bb6c22fac2b8..0000000000000 --- a/common/autoware_auto_cmake/package.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - - autoware_auto_cmake - 1.0.0 - Import the compiler settings defined for Autoware.Auto - Apex.AI, Inc. - Apache 2.0 - - ament_cmake_auto - ament_cmake_lint_cmake - - ros_environment - - ament_cmake_copyright - ament_cmake_core - ament_cmake_cppcheck - ament_cmake_cpplint - ament_cmake_lint_cmake - ament_cmake_uncrustify - - ament_cmake_lint_cmake - ament_lint_auto - autoware_lint_common - - - ament_cmake - - diff --git a/common/autoware_auto_common/CMakeLists.txt b/common/autoware_auto_common/CMakeLists.txt index 6d30f1993b24f..adac582e50c78 100644 --- a/common/autoware_auto_common/CMakeLists.txt +++ b/common/autoware_auto_common/CMakeLists.txt @@ -1,33 +1,13 @@ cmake_minimum_required(VERSION 3.5) project(autoware_auto_common) -## dependencies -find_package(ament_cmake_auto REQUIRED) -find_package(Eigen3 REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() +find_package(Eigen3 REQUIRED) include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR}) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - - # Temporarily disable cpplint and uncrustify - list(APPEND AMENT_LINT_AUTO_EXCLUDE - ament_cmake_cpplint - ) - - ament_lint_auto_find_test_dependencies() - - file(GLOB_RECURSE FILES_MINUS_SOME - ${CMAKE_CURRENT_SOURCE_DIR}/include/* - ${CMAKE_CURRENT_SOURCE_DIR}/test/* - ) - - # Re-enable cpplint - find_package(ament_cmake_cpplint) - ament_cpplint(${FILES_MINUS_SOME}) - - # Unit tests set(TEST_COMMON test_common_gtest) ament_add_gtest(${TEST_COMMON} test/gtest_main.cpp @@ -41,7 +21,6 @@ if(BUILD_TESTING) test/test_type_name.cpp test/test_type_traits.cpp ) - autoware_set_compile_options(${TEST_COMMON}) target_compile_options(${TEST_COMMON} PRIVATE -Wno-sign-conversion) target_include_directories(${TEST_COMMON} PRIVATE include) ament_target_dependencies(${TEST_COMMON} @@ -51,5 +30,4 @@ if(BUILD_TESTING) ) endif() -# Ament Exporting ament_auto_package() diff --git a/common/autoware_auto_common/package.xml b/common/autoware_auto_common/package.xml index d17b44fdba0a0..dca22e9b29ea3 100644 --- a/common/autoware_auto_common/package.xml +++ b/common/autoware_auto_common/package.xml @@ -8,7 +8,8 @@ Apache License 2.0 ament_cmake_auto - autoware_auto_cmake + + autoware_cmake builtin_interfaces eigen diff --git a/common/autoware_auto_geometry/CMakeLists.txt b/common/autoware_auto_geometry/CMakeLists.txt index eedff63194af9..45dfb6c0b2fd3 100644 --- a/common/autoware_auto_geometry/CMakeLists.txt +++ b/common/autoware_auto_geometry/CMakeLists.txt @@ -1,18 +1,15 @@ cmake_minimum_required(VERSION 3.5) project(autoware_auto_geometry) -## dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() -# includes ament_auto_add_library(${PROJECT_NAME} SHARED include/geometry/spatial_hash.hpp include/geometry/intersection.hpp include/geometry/spatial_hash_config.hpp src/spatial_hash.cpp src/bounding_box.cpp) -autoware_set_compile_options(${PROJECT_NAME}) # workaround to allow deprecated header to build on both galactic and rolling if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) @@ -22,10 +19,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) endif() if(BUILD_TESTING) - # run linters - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - # gtest set(GEOMETRY_GTEST geometry_gtest) set(GEOMETRY_SRC test/src/test_geometry.cpp test/src/test_convex_hull.cpp @@ -37,7 +30,6 @@ if(BUILD_TESTING) test/src/test_intersection.cpp ) ament_add_gtest(${GEOMETRY_GTEST} ${GEOMETRY_SRC}) - autoware_set_compile_options(${GEOMETRY_GTEST}) target_compile_options(${GEOMETRY_GTEST} PRIVATE -Wno-conversion -Wno-sign-conversion) target_include_directories(${GEOMETRY_GTEST} PRIVATE "test/include" "include") ament_target_dependencies(${GEOMETRY_GTEST} @@ -50,5 +42,4 @@ if(BUILD_TESTING) target_link_libraries(${GEOMETRY_GTEST} ${PROJECT_NAME}) endif() -# Ament Exporting ament_auto_package() diff --git a/common/autoware_auto_geometry/package.xml b/common/autoware_auto_geometry/package.xml index 267ed8bab95ca..976cf59013370 100644 --- a/common/autoware_auto_geometry/package.xml +++ b/common/autoware_auto_geometry/package.xml @@ -8,7 +8,8 @@ Apache License 2.0 ament_cmake_auto - autoware_auto_cmake + + autoware_cmake autoware_auto_common autoware_auto_geometry_msgs diff --git a/common/autoware_auto_perception_rviz_plugin/CMakeLists.txt b/common/autoware_auto_perception_rviz_plugin/CMakeLists.txt index ca775c0bcc8e7..b5db594dbc00d 100644 --- a/common/autoware_auto_perception_rviz_plugin/CMakeLists.txt +++ b/common/autoware_auto_perception_rviz_plugin/CMakeLists.txt @@ -1,10 +1,10 @@ cmake_minimum_required(VERSION 3.5) project(autoware_auto_perception_rviz_plugin) -#dependencies -find_package(ament_cmake_auto REQUIRED) +find_package(autoware_cmake REQUIRED) +autoware_package() + find_package(Qt5 REQUIRED COMPONENTS Widgets) -ament_auto_find_build_dependencies() set(OD_PLUGIN_LIB_SRC src/object_detection/detected_objects_display.cpp @@ -56,12 +56,6 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "OBJECT_DETECTION_PLUGINS_BUI # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins_description.xml) -if(BUILD_TESTING) - # run linters - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/autoware_auto_perception_rviz_plugin/package.xml b/common/autoware_auto_perception_rviz_plugin/package.xml index 3bcbaa6294535..1ee6207640b13 100644 --- a/common/autoware_auto_perception_rviz_plugin/package.xml +++ b/common/autoware_auto_perception_rviz_plugin/package.xml @@ -10,6 +10,7 @@ ament_cmake + autoware_cmake qtbase5-dev autoware_auto_perception_msgs diff --git a/common/autoware_auto_tf2/CMakeLists.txt b/common/autoware_auto_tf2/CMakeLists.txt index f1c33922a29ee..46ebb8a6381fd 100755 --- a/common/autoware_auto_tf2/CMakeLists.txt +++ b/common/autoware_auto_tf2/CMakeLists.txt @@ -1,20 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(autoware_auto_tf2) -## dependencies -find_package(ament_cmake REQUIRED) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() - -### Test if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # Linters - ament_lint_auto_find_test_dependencies() - # Unit test ament_add_gtest(test_tf2_autoware_auto_msgs test/test_tf2_autoware_auto_msgs.cpp) - autoware_set_compile_options(test_tf2_autoware_auto_msgs) # workaround to allow deprecated header to build on both galactic and rolling if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) target_compile_definitions(test_tf2_autoware_auto_msgs PRIVATE diff --git a/common/autoware_auto_tf2/package.xml b/common/autoware_auto_tf2/package.xml index 08790d2306396..d6fbd4f4ce3d8 100644 --- a/common/autoware_auto_tf2/package.xml +++ b/common/autoware_auto_tf2/package.xml @@ -8,7 +8,8 @@ Apache License 2.0 ament_cmake - autoware_auto_cmake + + autoware_cmake autoware_auto_common autoware_auto_geometry_msgs diff --git a/common/autoware_point_types/CMakeLists.txt b/common/autoware_point_types/CMakeLists.txt index 40d450f4548ce..b498153a65301 100644 --- a/common/autoware_point_types/CMakeLists.txt +++ b/common/autoware_point_types/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(autoware_point_types) -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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() include_directories( include @@ -21,11 +11,6 @@ include_directories( ) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - - find_package(ament_cmake_gtest REQUIRED) - ament_add_gtest(test_autoware_point_types test/test_point_types.cpp ) diff --git a/common/autoware_point_types/package.xml b/common/autoware_point_types/package.xml index 21f11c2b8085c..b7449dbbd13d5 100644 --- a/common/autoware_point_types/package.xml +++ b/common/autoware_point_types/package.xml @@ -14,6 +14,8 @@ ament_cmake_core ament_cmake_test + autoware_cmake + ament_cmake_copyright ament_cmake_cppcheck ament_cmake_lint_cmake diff --git a/common/autoware_testing/CMakeLists.txt b/common/autoware_testing/CMakeLists.txt index 5292f6788fdfd..8cd085cd80bab 100644 --- a/common/autoware_testing/CMakeLists.txt +++ b/common/autoware_testing/CMakeLists.txt @@ -1,19 +1,13 @@ cmake_minimum_required(VERSION 3.5) - project(autoware_testing) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - +find_package(autoware_cmake REQUIRED) +autoware_package() list(APPEND ${PROJECT_NAME}_CONFIG_EXTRAS "autoware_testing-extras.cmake" ) -if(BUILD_TESTING) - ament_lint_cmake(${CMAKE_CURRENT_SOURCE_DIR}) -endif() - ament_auto_package( INSTALL_TO_SHARE cmake autoware_testing ) diff --git a/common/autoware_testing/package.xml b/common/autoware_testing/package.xml index 9ed51521a1db7..d895d85122ae8 100644 --- a/common/autoware_testing/package.xml +++ b/common/autoware_testing/package.xml @@ -10,6 +10,8 @@ ament_cmake_auto ament_cmake_lint_cmake + autoware_cmake + ament_cmake_core ament_copyright ament_flake8 diff --git a/common/component_interface_utils/CMakeLists.txt b/common/component_interface_utils/CMakeLists.txt index ba32ad10851d5..5134b2f7cf3c2 100644 --- a/common/component_interface_utils/CMakeLists.txt +++ b/common/component_interface_utils/CMakeLists.txt @@ -1,22 +1,7 @@ cmake_minimum_required(VERSION 3.8) project(component_interface_utils) -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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package() diff --git a/common/component_interface_utils/package.xml b/common/component_interface_utils/package.xml index 3eebdfcd52e55..6a67111bc2c99 100644 --- a/common/component_interface_utils/package.xml +++ b/common/component_interface_utils/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_ad_api_msgs rclcpp rclcpp_components diff --git a/common/fake_test_node/CMakeLists.txt b/common/fake_test_node/CMakeLists.txt index 9c1cd0bdaf65d..609e8d1ce1495 100644 --- a/common/fake_test_node/CMakeLists.txt +++ b/common/fake_test_node/CMakeLists.txt @@ -1,23 +1,15 @@ cmake_minimum_required(VERSION 3.5) project(fake_test_node) -find_package(ament_cmake_auto REQUIRED) - -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(fake_test_node SHARED src/fake_test_node.cpp) -autoware_set_compile_options(fake_test_node) -## Testing if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - - find_package(ament_cmake_gtest REQUIRED) ament_add_gtest(test_fake_test_node test/test_fake_test_node.cpp ) - autoware_set_compile_options(test_fake_test_node) add_dependencies(test_fake_test_node fake_test_node) target_link_libraries(test_fake_test_node fake_test_node) endif() diff --git a/common/fake_test_node/package.xml b/common/fake_test_node/package.xml index 7220fb7e1b7ef..6d337906ff3b7 100644 --- a/common/fake_test_node/package.xml +++ b/common/fake_test_node/package.xml @@ -8,7 +8,8 @@ Apache 2.0 ament_cmake_auto - autoware_auto_cmake + + autoware_cmake ament_cmake_gtest autoware_auto_common diff --git a/common/global_parameter_loader/CMakeLists.txt b/common/global_parameter_loader/CMakeLists.txt index 06ab9ac22158f..468b60919b668 100644 --- a/common/global_parameter_loader/CMakeLists.txt +++ b/common/global_parameter_loader/CMakeLists.txt @@ -1,13 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(global_parameter_loader) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package( INSTALL_TO_SHARE diff --git a/common/global_parameter_loader/package.xml b/common/global_parameter_loader/package.xml index 37748ff15dda8..97e679334e6c2 100644 --- a/common/global_parameter_loader/package.xml +++ b/common/global_parameter_loader/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + vehicle_info_util ament_lint_auto diff --git a/common/goal_distance_calculator/CMakeLists.txt b/common/goal_distance_calculator/CMakeLists.txt index 4d188e6772e45..a7999e8f5f5c6 100644 --- a/common/goal_distance_calculator/CMakeLists.txt +++ b/common/goal_distance_calculator/CMakeLists.txt @@ -1,14 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(goal_distance_calculator) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(goal_distance_calculator SHARED src/goal_distance_calculator_node.cpp @@ -27,11 +21,6 @@ rclcpp_components_register_node(goal_distance_calculator EXECUTABLE goal_distance_calculator_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/common/goal_distance_calculator/package.xml b/common/goal_distance_calculator/package.xml index 66a911d8e9786..e9b1e83ab2d0b 100644 --- a/common/goal_distance_calculator/package.xml +++ b/common/goal_distance_calculator/package.xml @@ -9,6 +9,8 @@ ament_cmake + autoware_cmake + autoware_auto_planning_msgs geometry_msgs rclcpp diff --git a/common/had_map_utils/CMakeLists.txt b/common/had_map_utils/CMakeLists.txt index 36d9be734b352..be80c638eaa37 100644 --- a/common/had_map_utils/CMakeLists.txt +++ b/common/had_map_utils/CMakeLists.txt @@ -1,18 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(had_map_utils) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) find_package(CGAL REQUIRED COMPONENTS Core) find_package(Eigen3 REQUIRED) -ament_auto_find_build_dependencies() ament_auto_add_library(${PROJECT_NAME} SHARED src/had_map_utils.cpp @@ -33,11 +26,5 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC set(CGAL_DO_NOT_WARN_ABOUT_CMAKE_BUILD_TYPE TRUE) target_link_libraries(${PROJECT_NAME} CGAL CGAL::CGAL CGAL::CGAL_Core) -autoware_set_compile_options(${PROJECT_NAME}) - -# if(BUILD_TESTING) -# find_package(ament_lint_auto REQUIRED) -# ament_lint_auto_find_test_dependencies() -# endif() ament_auto_package() diff --git a/common/had_map_utils/package.xml b/common/had_map_utils/package.xml index 79a2cdd883dc7..2baa56aa12c73 100644 --- a/common/had_map_utils/package.xml +++ b/common/had_map_utils/package.xml @@ -8,8 +8,8 @@ Apache 2.0 ament_cmake_auto - autoware_auto_cmake + autoware_cmake rclcpp sensor_msgs diff --git a/common/interpolation/CMakeLists.txt b/common/interpolation/CMakeLists.txt index 6cec2a295d1fc..d8de3da7c87a4 100644 --- a/common/interpolation/CMakeLists.txt +++ b/common/interpolation/CMakeLists.txt @@ -1,16 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(interpolation) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(interpolation SHARED src/linear_interpolation.cpp @@ -25,13 +17,7 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -# Test if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - - find_package(ament_cmake_gtest REQUIRED) - file(GLOB_RECURSE test_files test/**/*.cpp) ament_add_gtest(test_interpolation ${test_files}) diff --git a/common/interpolation/package.xml b/common/interpolation/package.xml index a6e38fe7de130..213616b007a19 100644 --- a/common/interpolation/package.xml +++ b/common/interpolation/package.xml @@ -10,8 +10,11 @@ ament_cmake_auto + autoware_cmake + tier4_autoware_utils + ament_cmake_gtest ament_lint_auto autoware_lint_common diff --git a/common/kalman_filter/CMakeLists.txt b/common/kalman_filter/CMakeLists.txt index 4419e3d7761eb..6ea1c9f9205c9 100644 --- a/common/kalman_filter/CMakeLists.txt +++ b/common/kalman_filter/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(kalman_filter) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) @@ -23,9 +14,4 @@ ament_auto_add_library(kalman_filter SHARED include/kalman_filter/time_delay_kalman_filter.hpp ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package() diff --git a/common/kalman_filter/package.xml b/common/kalman_filter/package.xml index e46d109f272d7..6771e3c1a3238 100644 --- a/common/kalman_filter/package.xml +++ b/common/kalman_filter/package.xml @@ -11,6 +11,8 @@ ament_cmake_auto + autoware_cmake + ament_cmake_cppcheck ament_lint_auto diff --git a/common/motion_common/CMakeLists.txt b/common/motion_common/CMakeLists.txt index be983d93d4886..4a21808559dca 100644 --- a/common/motion_common/CMakeLists.txt +++ b/common/motion_common/CMakeLists.txt @@ -1,19 +1,16 @@ cmake_minimum_required(VERSION 3.6) - project(motion_common) -### Dependencies -find_package(ament_cmake_auto REQUIRED) +find_package(autoware_cmake REQUIRED) +autoware_package() + find_package(Eigen3 REQUIRED) -ament_auto_find_build_dependencies() -# Build library ament_auto_add_library(${PROJECT_NAME} SHARED src/motion_common/config.cpp src/motion_common/motion_common.cpp src/motion_common/trajectory_common.cpp ) -autoware_set_compile_options(${PROJECT_NAME}) # workaround to allow deprecated header to build on both galactic and rolling if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) @@ -22,9 +19,7 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -### Test if(BUILD_TESTING) - # Linters find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() @@ -33,7 +28,6 @@ if(BUILD_TESTING) # test/sanity_checks.cpp # test/interpolation.cpp # test/trajectory.cpp) - #autoware_set_compile_options(motion_common_unit_tests) #target_compile_options(motion_common_unit_tests PRIVATE -Wno-float-conversion) #target_link_libraries(motion_common_unit_tests ${PROJECT_NAME}) #add_dependencies(motion_common_unit_tests ${PROJECT_NAME}) diff --git a/common/motion_common/package.xml b/common/motion_common/package.xml index 9ff535764c235..2dab5c98abb80 100644 --- a/common/motion_common/package.xml +++ b/common/motion_common/package.xml @@ -8,9 +8,9 @@ Apache License 2.0 ament_cmake_auto - autoware_auto_cmake - autoware_auto_cmake + autoware_cmake + motion_testing autoware_auto_common autoware_auto_geometry @@ -21,8 +21,6 @@ tf2_geometry_msgs time_utils - motion_testing - ament_lint_auto apex_test_tools autoware_lint_common diff --git a/common/motion_testing/CMakeLists.txt b/common/motion_testing/CMakeLists.txt index d6e17f6922d2d..0cb936271a478 100644 --- a/common/motion_testing/CMakeLists.txt +++ b/common/motion_testing/CMakeLists.txt @@ -1,14 +1,10 @@ cmake_minimum_required(VERSION 3.6) - project(motion_testing) -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() -### Build ament_auto_add_library(${PROJECT_NAME} SHARED src/motion_testing/motion_testing.cpp) -autoware_set_compile_options(${PROJECT_NAME}) # workaround to allow deprecated header to build on both galactic and rolling if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) @@ -17,17 +13,11 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -### Test if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # Linters - ament_lint_auto_find_test_dependencies() - # Unit test ament_add_gtest(motion_testing_unit_tests test/gtest_main.cpp test/constant_trajectory.cpp test/trajectory_checks.cpp) - autoware_set_compile_options(motion_testing_unit_tests) target_compile_options(motion_testing_unit_tests PRIVATE -Wno-sign-conversion) target_link_libraries(motion_testing_unit_tests ${PROJECT_NAME}) add_dependencies(motion_testing_unit_tests ${PROJECT_NAME}) diff --git a/common/motion_testing/package.xml b/common/motion_testing/package.xml index 12b39331948fa..33e7b4798d0e7 100644 --- a/common/motion_testing/package.xml +++ b/common/motion_testing/package.xml @@ -8,18 +8,17 @@ Apache License 2.0 ament_cmake_auto - autoware_auto_cmake - autoware_auto_cmake - - autoware_auto_planning_msgs - autoware_auto_vehicle_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs + autoware_cmake tf2 tf2_geometry_msgs time_utils + autoware_auto_planning_msgs + autoware_auto_vehicle_msgs + ament_cmake_gtest ament_lint_auto autoware_lint_common diff --git a/common/osqp_interface/CMakeLists.txt b/common/osqp_interface/CMakeLists.txt index 6276ac4c321c6..e459df86b86f8 100644 --- a/common/osqp_interface/CMakeLists.txt +++ b/common/osqp_interface/CMakeLists.txt @@ -1,14 +1,10 @@ cmake_minimum_required(VERSION 3.5) project(osqp_interface) -# require that dependencies from package.xml be available -find_package(ament_cmake_auto REQUIRED) -find_package(Eigen3 REQUIRED) +find_package(autoware_cmake REQUIRED) +autoware_package() -ament_auto_find_build_dependencies(REQUIRED - ${${PROJECT_NAME}_BUILD_DEPENDS} - ${${PROJECT_NAME}_BUILDTOOL_DEPENDS} -) +find_package(Eigen3 REQUIRED) # after find_package(osqp_vendor) in ament_auto_find_build_dependencies find_package(osqp REQUIRED) @@ -26,12 +22,10 @@ set(OSQP_INTERFACE_LIB_HEADERS include/osqp_interface/visibility_control.hpp ) -# generate library ament_auto_add_library(${PROJECT_NAME} SHARED ${OSQP_INTERFACE_LIB_SRC} ${OSQP_INTERFACE_LIB_HEADERS} ) -autoware_set_compile_options(${PROJECT_NAME}) target_compile_options(${PROJECT_NAME} PRIVATE -Wno-error=old-style-cast -Wno-error=useless-cast) target_include_directories(osqp_interface @@ -49,22 +43,15 @@ ament_export_include_directories("${OSQP_INCLUDE_DIR}") # crucial so the linking order is correct in a downstream package: libosqp_interface.a should come before libosqp.a ament_export_libraries(osqp::osqp) -# Testing if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - - # Unit tests set(TEST_SOURCES test/test_osqp_interface.cpp test/test_csc_matrix_conv.cpp ) set(TEST_OSQP_INTERFACE_EXE test_osqp_interface) ament_add_gtest(${TEST_OSQP_INTERFACE_EXE} ${TEST_SOURCES}) - autoware_set_compile_options(${TEST_OSQP_INTERFACE_EXE}) target_link_libraries(${TEST_OSQP_INTERFACE_EXE} ${PROJECT_NAME}) endif() -# ament package generation and installing ament_auto_package(INSTALL_TO_SHARE ) diff --git a/common/osqp_interface/package.xml b/common/osqp_interface/package.xml index 358ee2ddd85cb..f89810ddda953 100644 --- a/common/osqp_interface/package.xml +++ b/common/osqp_interface/package.xml @@ -8,7 +8,8 @@ Apache 2.0 ament_cmake_auto - autoware_auto_cmake + + autoware_cmake autoware_auto_common eigen diff --git a/common/path_distance_calculator/CMakeLists.txt b/common/path_distance_calculator/CMakeLists.txt index 665e92f641597..8d1718043c6c5 100644 --- a/common/path_distance_calculator/CMakeLists.txt +++ b/common/path_distance_calculator/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(path_distance_calculator) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(${PROJECT_NAME} SHARED src/path_distance_calculator.cpp @@ -30,9 +20,4 @@ rclcpp_components_register_node(${PROJECT_NAME} EXECUTABLE ${PROJECT_NAME}_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/common/path_distance_calculator/package.xml b/common/path_distance_calculator/package.xml index 5343f44632f72..49d93ba161e63 100644 --- a/common/path_distance_calculator/package.xml +++ b/common/path_distance_calculator/package.xml @@ -9,6 +9,8 @@ ament_cmake + autoware_cmake + autoware_auto_planning_msgs rclcpp rclcpp_components diff --git a/common/polar_grid/CMakeLists.txt b/common/polar_grid/CMakeLists.txt index 8d9b69fe0e8c1..d0ec524a18388 100644 --- a/common/polar_grid/CMakeLists.txt +++ b/common/polar_grid/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(polar_grid) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -37,11 +28,6 @@ install(TARGETS pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/polar_grid/package.xml b/common/polar_grid/package.xml index 24a724dfc56cc..75118d09ef5d2 100644 --- a/common/polar_grid/package.xml +++ b/common/polar_grid/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + libqt5-core libqt5-gui libqt5-widgets diff --git a/common/signal_processing/CMakeLists.txt b/common/signal_processing/CMakeLists.txt index 7b1398eb54d65..072b55dfab4cb 100644 --- a/common/signal_processing/CMakeLists.txt +++ b/common/signal_processing/CMakeLists.txt @@ -1,41 +1,20 @@ cmake_minimum_required(VERSION 3.5) project(signal_processing) -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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -ament_auto_add_library(lowpass_filters SHARED +ament_auto_add_library(lowpass_filter_1d SHARED src/lowpass_filter_1d.cpp - src/butterworth.cpp) - +) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - - ament_lint_auto_find_test_dependencies() - ament_add_gtest(test_signal_processing test/src/lowpass_filter_1d_test.cpp - test/src/butterworth_filter_test.cpp) - - target_include_directories(test_signal_processing PUBLIC test/include) + ) target_link_libraries(test_signal_processing - lowpass_filters) - - + lowpass_filter_1d + ) endif() ament_auto_package() - -add_executable(main_butterworth usage_examples/main_butterworth.cpp) -target_link_libraries(main_butterworth lowpass_filters) \ No newline at end of file diff --git a/common/signal_processing/package.xml b/common/signal_processing/package.xml index 8f27e4262fd7b..563715af77248 100644 --- a/common/signal_processing/package.xml +++ b/common/signal_processing/package.xml @@ -1,21 +1,22 @@ - signal_processing - 0.1.0 - The signal processing package - Takayuki Murooka - Ali Boyali + signal_processing + 0.1.0 + The signal processing package + Takayuki Murooka - Apache License 2.0 + Apache License 2.0 - ament_cmake_auto + autoware_cmake - ament_cmake_gtest - ament_lint_auto - autoware_lint_common + ament_cmake_auto - - ament_cmake - + ament_cmake_gtest + ament_lint_auto + autoware_lint_common + + + ament_cmake + diff --git a/common/tier4_api_utils/CMakeLists.txt b/common/tier4_api_utils/CMakeLists.txt index 1beed4368d313..ac89ae4c275d5 100644 --- a/common/tier4_api_utils/CMakeLists.txt +++ b/common/tier4_api_utils/CMakeLists.txt @@ -1,24 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(tier4_api_utils) -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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - find_package(ament_cmake_gtest REQUIRED) include_directories(include) - ament_lint_auto_find_test_dependencies() ament_add_gtest(${PROJECT_NAME}_test test/test.cpp) ament_target_dependencies(${PROJECT_NAME}_test rclcpp tier4_external_api_msgs) endif() diff --git a/common/tier4_api_utils/package.xml b/common/tier4_api_utils/package.xml index ba307d694a56c..99a03ab92b0ec 100644 --- a/common/tier4_api_utils/package.xml +++ b/common/tier4_api_utils/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + rclcpp tier4_external_api_msgs diff --git a/common/tier4_autoware_utils/CMakeLists.txt b/common/tier4_autoware_utils/CMakeLists.txt index 62b2bb6bc1b20..3b01501271c61 100644 --- a/common/tier4_autoware_utils/CMakeLists.txt +++ b/common/tier4_autoware_utils/CMakeLists.txt @@ -1,16 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_autoware_utils) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Boost REQUIRED) @@ -26,11 +18,7 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -# Test if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - find_package(ament_cmake_gtest REQUIRED) file(GLOB_RECURSE test_files test/**/*.cpp) diff --git a/common/tier4_autoware_utils/package.xml b/common/tier4_autoware_utils/package.xml index da44047b49b52..f1bd523a8eda1 100644 --- a/common/tier4_autoware_utils/package.xml +++ b/common/tier4_autoware_utils/package.xml @@ -10,6 +10,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_planning_msgs builtin_interfaces diagnostic_msgs diff --git a/common/tier4_calibration_rviz_plugin/CMakeLists.txt b/common/tier4_calibration_rviz_plugin/CMakeLists.txt index 5354c44a434c0..eff818e7dbca7 100644 --- a/common/tier4_calibration_rviz_plugin/CMakeLists.txt +++ b/common/tier4_calibration_rviz_plugin/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_calibration_rviz_plugin) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -30,11 +21,6 @@ target_link_libraries(${PROJECT_NAME} # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE plugins diff --git a/common/tier4_calibration_rviz_plugin/package.xml b/common/tier4_calibration_rviz_plugin/package.xml index a6149ea97d8fd..2f8b13c4b9792 100644 --- a/common/tier4_calibration_rviz_plugin/package.xml +++ b/common/tier4_calibration_rviz_plugin/package.xml @@ -11,6 +11,8 @@ ament_cmake_auto + autoware_cmake + libqt5-core libqt5-widgets qtbase5-dev diff --git a/common/tier4_datetime_rviz_plugin/CMakeLists.txt b/common/tier4_datetime_rviz_plugin/CMakeLists.txt index b35caa4d5a2cb..3c8a097ca768e 100644 --- a/common/tier4_datetime_rviz_plugin/CMakeLists.txt +++ b/common/tier4_datetime_rviz_plugin/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_datetime_rviz_plugin) -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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -28,11 +19,6 @@ target_link_libraries(${PROJECT_NAME} ) pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/tier4_datetime_rviz_plugin/package.xml b/common/tier4_datetime_rviz_plugin/package.xml index 7a8074b612542..d6780c061c9a2 100644 --- a/common/tier4_datetime_rviz_plugin/package.xml +++ b/common/tier4_datetime_rviz_plugin/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + libqt5-core libqt5-gui libqt5-widgets diff --git a/common/tier4_debug_tools/CMakeLists.txt b/common/tier4_debug_tools/CMakeLists.txt index 13127581a044c..ea0a672fc1399 100644 --- a/common/tier4_debug_tools/CMakeLists.txt +++ b/common/tier4_debug_tools/CMakeLists.txt @@ -1,22 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(tier4_debug_tools) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Eigen3 REQUIRED) -#ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR "scripts/") - ament_auto_add_library(lateral_error_publisher SHARED src/lateral_error_publisher.cpp ) @@ -33,11 +22,6 @@ rclcpp_components_register_node(lateral_error_publisher EXECUTABLE lateral_error_publisher_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE config diff --git a/common/tier4_debug_tools/package.xml b/common/tier4_debug_tools/package.xml index e2bd5d4f5323c..3351b15ecea15 100644 --- a/common/tier4_debug_tools/package.xml +++ b/common/tier4_debug_tools/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_planning_msgs geometry_msgs rclcpp diff --git a/common/tier4_localization_rviz_plugin/CMakeLists.txt b/common/tier4_localization_rviz_plugin/CMakeLists.txt index eb3b1605c7ca6..be8d3c45c56c0 100644 --- a/common/tier4_localization_rviz_plugin/CMakeLists.txt +++ b/common/tier4_localization_rviz_plugin/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_localization_rviz_plugin) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -31,11 +22,6 @@ target_link_libraries(${PROJECT_NAME} # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/tier4_localization_rviz_plugin/package.xml b/common/tier4_localization_rviz_plugin/package.xml index ae8371ca6d413..4f95f347bb1ee 100644 --- a/common/tier4_localization_rviz_plugin/package.xml +++ b/common/tier4_localization_rviz_plugin/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + geometry_msgs libqt5-core libqt5-gui diff --git a/common/tier4_perception_rviz_plugin/CMakeLists.txt b/common/tier4_perception_rviz_plugin/CMakeLists.txt index a4a058655ea14..c77e9b815cb81 100644 --- a/common/tier4_perception_rviz_plugin/CMakeLists.txt +++ b/common/tier4_perception_rviz_plugin/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_perception_rviz_plugin) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -42,11 +33,6 @@ endif() # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/tier4_perception_rviz_plugin/package.xml b/common/tier4_perception_rviz_plugin/package.xml index 4889cf1189bfd..bb130ceda42e5 100644 --- a/common/tier4_perception_rviz_plugin/package.xml +++ b/common/tier4_perception_rviz_plugin/package.xml @@ -9,6 +9,8 @@ ament_cmake + autoware_cmake + dummy_perception_publisher libqt5-core libqt5-gui diff --git a/common/tier4_planning_rviz_plugin/CMakeLists.txt b/common/tier4_planning_rviz_plugin/CMakeLists.txt index 3050f9e1904f1..4e056665c5adb 100644 --- a/common/tier4_planning_rviz_plugin/CMakeLists.txt +++ b/common/tier4_planning_rviz_plugin/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_planning_rviz_plugin) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -55,11 +46,6 @@ endif() # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/tier4_planning_rviz_plugin/package.xml b/common/tier4_planning_rviz_plugin/package.xml index 69ca20e0663be..3e6feb31615de 100644 --- a/common/tier4_planning_rviz_plugin/package.xml +++ b/common/tier4_planning_rviz_plugin/package.xml @@ -9,6 +9,8 @@ ament_cmake + autoware_cmake + autoware_auto_planning_msgs libqt5-core libqt5-gui diff --git a/common/tier4_simulated_clock_rviz_plugin/CMakeLists.txt b/common/tier4_simulated_clock_rviz_plugin/CMakeLists.txt index 6418b77a661a4..a646d4e292213 100644 --- a/common/tier4_simulated_clock_rviz_plugin/CMakeLists.txt +++ b/common/tier4_simulated_clock_rviz_plugin/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_simulated_clock_rviz_plugin) -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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -30,11 +21,6 @@ target_link_libraries(${PROJECT_NAME} # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/tier4_simulated_clock_rviz_plugin/package.xml b/common/tier4_simulated_clock_rviz_plugin/package.xml index 5604ea0967603..d7fd09e57b0bb 100644 --- a/common/tier4_simulated_clock_rviz_plugin/package.xml +++ b/common/tier4_simulated_clock_rviz_plugin/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + libqt5-core libqt5-gui libqt5-widgets diff --git a/common/tier4_state_rviz_plugin/CMakeLists.txt b/common/tier4_state_rviz_plugin/CMakeLists.txt index a2cf6b29e5cd4..fbf2c50106bb3 100644 --- a/common/tier4_state_rviz_plugin/CMakeLists.txt +++ b/common/tier4_state_rviz_plugin/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_state_rviz_plugin) -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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -30,11 +21,6 @@ target_link_libraries(${PROJECT_NAME} # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/tier4_state_rviz_plugin/package.xml b/common/tier4_state_rviz_plugin/package.xml index b7e71993e3b8b..2afbe9c315f75 100644 --- a/common/tier4_state_rviz_plugin/package.xml +++ b/common/tier4_state_rviz_plugin/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_system_msgs autoware_auto_vehicle_msgs libqt5-core diff --git a/common/tier4_traffic_light_rviz_plugin/CMakeLists.txt b/common/tier4_traffic_light_rviz_plugin/CMakeLists.txt index a9e6d1c3f8085..d95848928ffa2 100644 --- a/common/tier4_traffic_light_rviz_plugin/CMakeLists.txt +++ b/common/tier4_traffic_light_rviz_plugin/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_traffic_light_rviz_plugin) -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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -30,11 +21,6 @@ target_link_libraries(${PROJECT_NAME} # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/tier4_traffic_light_rviz_plugin/package.xml b/common/tier4_traffic_light_rviz_plugin/package.xml index 19de03ddb982b..724cf69d01f25 100644 --- a/common/tier4_traffic_light_rviz_plugin/package.xml +++ b/common/tier4_traffic_light_rviz_plugin/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_perception_msgs libqt5-core libqt5-gui diff --git a/common/tier4_vehicle_rviz_plugin/CMakeLists.txt b/common/tier4_vehicle_rviz_plugin/CMakeLists.txt index 1458165711aad..6d49d5144f1f7 100644 --- a/common/tier4_vehicle_rviz_plugin/CMakeLists.txt +++ b/common/tier4_vehicle_rviz_plugin/CMakeLists.txt @@ -1,15 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_vehicle_rviz_plugin) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -50,11 +43,6 @@ endif() # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/tier4_vehicle_rviz_plugin/package.xml b/common/tier4_vehicle_rviz_plugin/package.xml index bbd2dc6c8cec8..15d6609248a4e 100644 --- a/common/tier4_vehicle_rviz_plugin/package.xml +++ b/common/tier4_vehicle_rviz_plugin/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_vehicle_msgs libqt5-core libqt5-gui diff --git a/common/time_utils/CMakeLists.txt b/common/time_utils/CMakeLists.txt index 63e28887ed288..80d59a39762f6 100644 --- a/common/time_utils/CMakeLists.txt +++ b/common/time_utils/CMakeLists.txt @@ -1,21 +1,9 @@ cmake_minimum_required(VERSION 3.6) - project(time_utils) -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() -### Build ament_auto_add_library(${PROJECT_NAME} SHARED src/time_utils/time_utils.cpp) -autoware_set_compile_options(${PROJECT_NAME}) - -### Test -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # Linters - ament_lint_auto_find_test_dependencies() - # TODO(c.ho) unit tests -endif() ament_auto_package() diff --git a/common/time_utils/package.xml b/common/time_utils/package.xml index 176031b249a3f..9b553289e09be 100644 --- a/common/time_utils/package.xml +++ b/common/time_utils/package.xml @@ -8,9 +8,8 @@ Apache License 2.0 ament_cmake_auto - autoware_auto_cmake - autoware_auto_cmake + autoware_cmake builtin_interfaces ament_cmake_gtest diff --git a/common/vehicle_constants_manager/CMakeLists.txt b/common/vehicle_constants_manager/CMakeLists.txt index f10586e1140a8..4a667b47c5258 100644 --- a/common/vehicle_constants_manager/CMakeLists.txt +++ b/common/vehicle_constants_manager/CMakeLists.txt @@ -1,9 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(vehicle_constants_manager) -# require that dependencies from package.xml be available -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() set(VEHICLE_CONSTANTS_MANAGER_LIB_SRC src/vehicle_constants_manager.cpp) @@ -12,24 +11,15 @@ set(VEHICLE_CONSTANTS_MANAGER_LIB_HEADERS include/vehicle_constants_manager/vehicle_constants_manager.hpp include/vehicle_constants_manager/visibility_control.hpp) -# generate library ament_auto_add_library(${PROJECT_NAME} SHARED ${VEHICLE_CONSTANTS_MANAGER_LIB_SRC} ${VEHICLE_CONSTANTS_MANAGER_LIB_HEADERS}) -autoware_set_compile_options(${PROJECT_NAME}) -# Testing # if(BUILD_TESTING) -# find_package(ament_lint_auto REQUIRED) -# ament_lint_auto_find_test_dependencies() - -# # Unit tests # set(TEST_SOURCES test/test_vehicle_constants_manager.cpp) # set(TEST_VEHICLE_CONSTANTS_MANAGER_EXE test_vehicle_constants_manager) # ament_add_gtest(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE} ${TEST_SOURCES}) -# autoware_set_compile_options(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE}) # target_link_libraries(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE} ${PROJECT_NAME}) # endif() -# ament package generation and installing ament_auto_package(INSTALL_TO_SHARE) diff --git a/common/vehicle_constants_manager/package.xml b/common/vehicle_constants_manager/package.xml index a9a5461bb6c4f..eecb3e8f2108f 100644 --- a/common/vehicle_constants_manager/package.xml +++ b/common/vehicle_constants_manager/package.xml @@ -8,14 +8,14 @@ Apache 2.0 ament_cmake_auto - autoware_auto_cmake + + autoware_cmake autoware_auto_common rclcpp rclcpp_components ament_cmake_gtest - autoware_auto_cmake ament_cmake diff --git a/common/web_controller/CMakeLists.txt b/common/web_controller/CMakeLists.txt index 7ffdcb57798e6..e0014c14daa44 100644 --- a/common/web_controller/CMakeLists.txt +++ b/common/web_controller/CMakeLists.txt @@ -1,7 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(web_controller) -find_package(ament_cmake REQUIRED) +find_package(autoware_cmake REQUIRED) +autoware_package() install(DIRECTORY launch diff --git a/common/web_controller/package.xml b/common/web_controller/package.xml index 865b2b95892ae..b1cdadf43238e 100644 --- a/common/web_controller/package.xml +++ b/common/web_controller/package.xml @@ -9,6 +9,8 @@ ament_cmake + autoware_cmake + autoware_auto_system_msgs rosbridge_server std_msgs diff --git a/control/control_performance_analysis/CMakeLists.txt b/control/control_performance_analysis/CMakeLists.txt index a5c9e74a0bff9..996a7f41be6e6 100644 --- a/control/control_performance_analysis/CMakeLists.txt +++ b/control/control_performance_analysis/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(control_performance_analysis) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Boost REQUIRED) @@ -60,11 +50,6 @@ rclcpp_components_register_node(control_performance_analysis_node EXECUTABLE control_performance_analysis ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml index 2e0b1ec6d661b..4b4d2f8e61c24 100644 --- a/control/control_performance_analysis/package.xml +++ b/control/control_performance_analysis/package.xml @@ -10,6 +10,8 @@ ament_cmake_auto rosidl_default_generators + autoware_cmake + autoware_auto_control_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs diff --git a/control/external_cmd_selector/CMakeLists.txt b/control/external_cmd_selector/CMakeLists.txt index c195671489fcc..f0c7e77c69aa1 100644 --- a/control/external_cmd_selector/CMakeLists.txt +++ b/control/external_cmd_selector/CMakeLists.txt @@ -1,19 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(external_cmd_selector) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(external_cmd_selector_node SHARED src/external_cmd_selector/external_cmd_selector_node.cpp @@ -24,11 +13,6 @@ rclcpp_components_register_node(external_cmd_selector_node EXECUTABLE external_cmd_selector ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/control/external_cmd_selector/package.xml b/control/external_cmd_selector/package.xml index 8ae885c29b357..4bcc97be811f5 100644 --- a/control/external_cmd_selector/package.xml +++ b/control/external_cmd_selector/package.xml @@ -11,6 +11,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_vehicle_msgs diagnostic_updater geometry_msgs diff --git a/control/joy_controller/CMakeLists.txt b/control/joy_controller/CMakeLists.txt index 841c18d11c804..1fa2f13b0f995 100644 --- a/control/joy_controller/CMakeLists.txt +++ b/control/joy_controller/CMakeLists.txt @@ -1,15 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(joy_controller) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(joy_controller_node SHARED src/joy_controller/joy_controller_node.cpp @@ -20,11 +13,6 @@ rclcpp_components_register_node(joy_controller_node EXECUTABLE joy_controller ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/control/joy_controller/package.xml b/control/joy_controller/package.xml index 9338d4673361c..11d47f8afa3d9 100644 --- a/control/joy_controller/package.xml +++ b/control/joy_controller/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_control_msgs autoware_auto_vehicle_msgs geometry_msgs diff --git a/control/lane_departure_checker/CMakeLists.txt b/control/lane_departure_checker/CMakeLists.txt index a40f0b4a9ae4e..1078912ef99c9 100644 --- a/control/lane_departure_checker/CMakeLists.txt +++ b/control/lane_departure_checker/CMakeLists.txt @@ -1,19 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(lane_departure_checker) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - +find_package(autoware_cmake REQUIRED) +autoware_package() include_directories( include @@ -21,8 +10,6 @@ include_directories( ${EIGEN3_INCLUDE_DIRS} ) -# Target -## lane_departure_checker_node ament_auto_add_library(lane_departure_checker SHARED src/lane_departure_checker_node/lane_departure_checker.cpp src/lane_departure_checker_node/lane_departure_checker_node.cpp @@ -40,11 +27,6 @@ rclcpp_components_register_node(lane_departure_checker EXECUTABLE lane_departure_checker_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/control/lane_departure_checker/package.xml b/control/lane_departure_checker/package.xml index f4cada4226691..1cf5fda88657f 100644 --- a/control/lane_departure_checker/package.xml +++ b/control/lane_departure_checker/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_mapping_msgs autoware_auto_planning_msgs boost diff --git a/control/obstacle_collision_checker/CMakeLists.txt b/control/obstacle_collision_checker/CMakeLists.txt index e13747c2711e8..d96c9af65f249 100644 --- a/control/obstacle_collision_checker/CMakeLists.txt +++ b/control/obstacle_collision_checker/CMakeLists.txt @@ -1,19 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(obstacle_collision_checker) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - +find_package(autoware_cmake REQUIRED) +autoware_package() include_directories( include @@ -22,8 +11,6 @@ include_directories( ${EIGEN3_INCLUDE_DIRS} ) -# Target -## obstacle_collision_checker_node ament_auto_add_library(obstacle_collision_checker SHARED src/obstacle_collision_checker_node/obstacle_collision_checker.cpp src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp @@ -42,8 +29,6 @@ rclcpp_components_register_node(obstacle_collision_checker ) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() ament_add_ros_isolated_gtest(test_obstacle_collision_checker test/test_obstacle_collision_checker.cpp ) diff --git a/control/obstacle_collision_checker/package.xml b/control/obstacle_collision_checker/package.xml index 377272e8fa5e3..2c5f980b899be 100644 --- a/control/obstacle_collision_checker/package.xml +++ b/control/obstacle_collision_checker/package.xml @@ -11,6 +11,8 @@ ament_cmake + autoware_cmake + autoware_auto_planning_msgs boost diagnostic_updater diff --git a/control/pure_pursuit/CMakeLists.txt b/control/pure_pursuit/CMakeLists.txt index ccab9dcdd0fd5..45b7d2f9b9ed5 100644 --- a/control/pure_pursuit/CMakeLists.txt +++ b/control/pure_pursuit/CMakeLists.txt @@ -1,21 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(pure_pursuit) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Eigen3 REQUIRED) - include_directories( ${EIGEN3_INCLUDE_DIRS} ) @@ -56,11 +46,6 @@ rclcpp_components_register_node(pure_pursuit_node EXECUTABLE pure_pursuit_node_exe ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/control/pure_pursuit/package.xml b/control/pure_pursuit/package.xml index 3c1e24a7f210f..fb97ea262004d 100644 --- a/control/pure_pursuit/package.xml +++ b/control/pure_pursuit/package.xml @@ -10,6 +10,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_control_msgs autoware_auto_planning_msgs geometry_msgs diff --git a/control/shift_decider/CMakeLists.txt b/control/shift_decider/CMakeLists.txt index 6e2e94098646c..a57ee908fa223 100644 --- a/control/shift_decider/CMakeLists.txt +++ b/control/shift_decider/CMakeLists.txt @@ -1,14 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(shift_decider) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(shift_decider_node SHARED src/shift_decider.cpp @@ -19,11 +13,6 @@ rclcpp_components_register_node(shift_decider_node EXECUTABLE shift_decider ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/control/shift_decider/package.xml b/control/shift_decider/package.xml index 7c9a8987ff89a..29033dcf960bf 100644 --- a/control/shift_decider/package.xml +++ b/control/shift_decider/package.xml @@ -11,6 +11,8 @@ ament_cmake + autoware_cmake + autoware_auto_control_msgs autoware_auto_vehicle_msgs rclcpp diff --git a/control/trajectory_follower/CMakeLists.txt b/control/trajectory_follower/CMakeLists.txt index c4c215f1b4502..b80513c6d8e36 100644 --- a/control/trajectory_follower/CMakeLists.txt +++ b/control/trajectory_follower/CMakeLists.txt @@ -1,12 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(trajectory_follower) -# require that dependencies from package.xml be available -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies(REQUIRED - ${${PROJECT_NAME}_BUILD_DEPENDS} - ${${PROJECT_NAME}_BUILDTOOL_DEPENDS} -) +find_package(autoware_cmake REQUIRED) +autoware_package() # lateral_controller set(LATERAL_CONTROLLER_LIB lateral_controller_lib) @@ -40,12 +36,10 @@ set(LATERAL_CONTROLLER_LIB_HEADERS include/trajectory_follower/vehicle_model/vehicle_model_interface.hpp ) -# generate library ament_auto_add_library(${LATERAL_CONTROLLER_LIB} SHARED ${LATERAL_CONTROLLER_LIB_SRC} ${LATERAL_CONTROLLER_LIB_HEADERS} ) -autoware_set_compile_options(${LATERAL_CONTROLLER_LIB}) target_compile_options(${LATERAL_CONTROLLER_LIB} PRIVATE -Wno-error=old-style-cast) # workaround to allow deprecated header to build on both galactic and rolling @@ -70,12 +64,10 @@ set(LONGITUDINAL_CONTROLLER_LIB_HEADERS include/trajectory_follower/longitudinal_controller_utils.hpp ) -# generate library ament_auto_add_library(${LONGITUDINAL_CONTROLLER_LIB} SHARED ${LONGITUDINAL_CONTROLLER_LIB_SRC} ${LONGITUDINAL_CONTROLLER_LIB_HEADERS} ) -autoware_set_compile_options(${LONGITUDINAL_CONTROLLER_LIB}) target_compile_options(${LONGITUDINAL_CONTROLLER_LIB} PRIVATE -Wno-error=old-style-cast) # workaround to allow deprecated header to build on both galactic and rolling @@ -85,12 +77,7 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -# Testing if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - - # Unit tests set(TEST_LAT_SOURCES test/test_mpc.cpp test/test_mpc_trajectory.cpp @@ -100,7 +87,6 @@ if(BUILD_TESTING) ) set(TEST_LATERAL_CONTROLLER_EXE test_lateral_controller) ament_add_gtest(${TEST_LATERAL_CONTROLLER_EXE} ${TEST_LAT_SOURCES}) - autoware_set_compile_options(${TEST_LATERAL_CONTROLLER_EXE}) target_link_libraries(${TEST_LATERAL_CONTROLLER_EXE} ${LATERAL_CONTROLLER_LIB}) # workaround to allow deprecated header to build on both galactic and rolling @@ -118,7 +104,6 @@ if(BUILD_TESTING) ) set(TEST_LONGITUDINAL_CONTROLLER_EXE test_longitudinal_controller) ament_add_gtest(${TEST_LONGITUDINAL_CONTROLLER_EXE} ${TEST_LON_SOURCES}) - autoware_set_compile_options(${TEST_LONGITUDINAL_CONTROLLER_EXE}) target_link_libraries(${TEST_LONGITUDINAL_CONTROLLER_EXE} ${LONGITUDINAL_CONTROLLER_LIB}) # workaround to allow deprecated header to build on both galactic and rolling @@ -129,6 +114,5 @@ if(BUILD_TESTING) endif() endif() -# ament package generation and installing ament_auto_package(INSTALL_TO_SHARE ) diff --git a/control/trajectory_follower/package.xml b/control/trajectory_follower/package.xml index 98a39e5c65520..4bc005335f4a9 100644 --- a/control/trajectory_follower/package.xml +++ b/control/trajectory_follower/package.xml @@ -8,7 +8,8 @@ Apache 2.0 ament_cmake_auto - autoware_auto_cmake + + autoware_cmake autoware_auto_common autoware_auto_control_msgs diff --git a/control/trajectory_follower_nodes/CMakeLists.txt b/control/trajectory_follower_nodes/CMakeLists.txt index f18575e34b6d9..3b6af90ecb523 100644 --- a/control/trajectory_follower_nodes/CMakeLists.txt +++ b/control/trajectory_follower_nodes/CMakeLists.txt @@ -1,8 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(trajectory_follower_nodes) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() set(LATERAL_CONTROLLER_NODE lateral_controller_node) ament_auto_add_library(${LATERAL_CONTROLLER_NODE} SHARED @@ -17,7 +17,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -autoware_set_compile_options(${LATERAL_CONTROLLER_NODE}) # TODO(lateral_controller) : RCLCPP_ERROR_THROTTLE() has built-in old-style casts. # TODO(lateral_controller) : Temporary workaround until this is fixed. target_compile_options(${LATERAL_CONTROLLER_NODE} PRIVATE -Wno-error=old-style-cast) @@ -32,7 +31,6 @@ ament_auto_add_library(${LONGITUDINAL_CONTROLLER_NODE} SHARED src/longitudinal_controller_node.cpp ) -autoware_set_compile_options(${LONGITUDINAL_CONTROLLER_NODE}) # TODO(longitudinal_controller) : RCLCPP_ERROR_THROTTLE() has built-in old-style casts. # TODO(longitudinal_controller) : Temporary workaround until this is fixed. target_compile_options(${LONGITUDINAL_CONTROLLER_NODE} PRIVATE -Wno-error=old-style-cast) @@ -47,7 +45,6 @@ ament_auto_add_library(${LATLON_MUXER_NODE} SHARED src/latlon_muxer_node.cpp ) -autoware_set_compile_options(${LATLON_MUXER_NODE}) # TODO(latlon_muxer) : RCLCPP_ERROR_THROTTLE() has built-in old-style casts. # TODO(latlon_muxer) : Temporary workaround until this is fixed. target_compile_options(${LATLON_MUXER_NODE} PRIVATE -Wno-error=old-style-cast) @@ -57,9 +54,6 @@ rclcpp_components_register_node(${LATLON_MUXER_NODE} ) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - # Unit tests set(TRAJECTORY_FOLLOWER_NODES_TEST test_trajectory_follower_nodes) ament_add_ros_isolated_gtest(${TRAJECTORY_FOLLOWER_NODES_TEST} test/trajectory_follower_test_utils.hpp @@ -68,7 +62,6 @@ if(BUILD_TESTING) test/test_longitudinal_controller_node.cpp ) ament_target_dependencies(${TRAJECTORY_FOLLOWER_NODES_TEST} fake_test_node) - autoware_set_compile_options(${TRAJECTORY_FOLLOWER_NODES_TEST}) target_link_libraries(${TRAJECTORY_FOLLOWER_NODES_TEST} ${LATLON_MUXER_NODE} ${LATERAL_CONTROLLER_NODE} ${LONGITUDINAL_CONTROLLER_NODE}) #find_package(autoware_testing REQUIRED) diff --git a/control/trajectory_follower_nodes/package.xml b/control/trajectory_follower_nodes/package.xml index a6d789dec3598..0db906f84049c 100644 --- a/control/trajectory_follower_nodes/package.xml +++ b/control/trajectory_follower_nodes/package.xml @@ -8,7 +8,8 @@ Apache License 2.0 ament_cmake_auto - autoware_auto_cmake + + autoware_cmake autoware_auto_control_msgs autoware_auto_planning_msgs diff --git a/control/vehicle_cmd_gate/CMakeLists.txt b/control/vehicle_cmd_gate/CMakeLists.txt index fdb405ac4f6aa..274f326d102b7 100644 --- a/control/vehicle_cmd_gate/CMakeLists.txt +++ b/control/vehicle_cmd_gate/CMakeLists.txt @@ -1,21 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(vehicle_cmd_gate) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -# Generate exe file ament_auto_add_library(vehicle_cmd_gate_node SHARED src/vehicle_cmd_gate.cpp src/vehicle_cmd_filter.cpp @@ -27,9 +15,6 @@ rclcpp_components_register_node(vehicle_cmd_gate_node ) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - ament_add_gtest(test_vehicle_cmd_gate test/src/test_main.cpp test/src/test_vehicle_cmd_filter.cpp diff --git a/control/vehicle_cmd_gate/package.xml b/control/vehicle_cmd_gate/package.xml index 745f813721bcb..cb30c913ad766 100644 --- a/control/vehicle_cmd_gate/package.xml +++ b/control/vehicle_cmd_gate/package.xml @@ -9,6 +9,8 @@ ament_cmake + autoware_cmake + autoware_auto_control_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs diff --git a/launch/tier4_autoware_api_launch/CMakeLists.txt b/launch/tier4_autoware_api_launch/CMakeLists.txt index 95c4157c0122a..fe6d5d4b4ea41 100644 --- a/launch/tier4_autoware_api_launch/CMakeLists.txt +++ b/launch/tier4_autoware_api_launch/CMakeLists.txt @@ -1,12 +1,7 @@ cmake_minimum_required(VERSION 3.5) project(tier4_autoware_api_launch) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/launch/tier4_autoware_api_launch/package.xml b/launch/tier4_autoware_api_launch/package.xml index a455e71ffd0bb..2a42e2bb52f55 100644 --- a/launch/tier4_autoware_api_launch/package.xml +++ b/launch/tier4_autoware_api_launch/package.xml @@ -10,6 +10,8 @@ ament_cmake_auto + autoware_cmake + autoware_iv_external_api_adaptor autoware_iv_internal_api_adaptor awapi_awiv_adapter diff --git a/launch/tier4_control_launch/CMakeLists.txt b/launch/tier4_control_launch/CMakeLists.txt index b6b85a652aad8..3bd7c45fa8032 100644 --- a/launch/tier4_control_launch/CMakeLists.txt +++ b/launch/tier4_control_launch/CMakeLists.txt @@ -1,20 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_control_launch) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wno-unused-parameter -Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package( INSTALL_TO_SHARE diff --git a/launch/tier4_control_launch/package.xml b/launch/tier4_control_launch/package.xml index 54267af603443..2555c9175d697 100644 --- a/launch/tier4_control_launch/package.xml +++ b/launch/tier4_control_launch/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + external_cmd_converter lane_departure_checker shift_decider diff --git a/launch/tier4_integration_launch/CMakeLists.txt b/launch/tier4_integration_launch/CMakeLists.txt index 16ec58cb319e0..6abc592a4be1f 100644 --- a/launch/tier4_integration_launch/CMakeLists.txt +++ b/launch/tier4_integration_launch/CMakeLists.txt @@ -2,13 +2,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_integration_launch) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package( INSTALL_TO_SHARE diff --git a/launch/tier4_integration_launch/package.xml b/launch/tier4_integration_launch/package.xml index f82b18f4d6434..bc7cd01b4b67a 100644 --- a/launch/tier4_integration_launch/package.xml +++ b/launch/tier4_integration_launch/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_launch python3-bson python3-tornado diff --git a/launch/tier4_localization_launch/CMakeLists.txt b/launch/tier4_localization_launch/CMakeLists.txt index 2221e001f3b87..efa6394414a1a 100644 --- a/launch/tier4_localization_launch/CMakeLists.txt +++ b/launch/tier4_localization_launch/CMakeLists.txt @@ -1,20 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_localization_launch) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package(INSTALL_TO_SHARE launch diff --git a/launch/tier4_localization_launch/package.xml b/launch/tier4_localization_launch/package.xml index aab0b13df6499..3183558f0940a 100644 --- a/launch/tier4_localization_launch/package.xml +++ b/launch/tier4_localization_launch/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + ekf_localizer gyro_odometer ndt_scan_matcher diff --git a/launch/tier4_map_launch/CMakeLists.txt b/launch/tier4_map_launch/CMakeLists.txt index 7ad8b620591ef..fa6d779fc5c40 100644 --- a/launch/tier4_map_launch/CMakeLists.txt +++ b/launch/tier4_map_launch/CMakeLists.txt @@ -1,20 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_map_launch) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wno-unused-parameter -Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package( INSTALL_TO_SHARE diff --git a/launch/tier4_map_launch/package.xml b/launch/tier4_map_launch/package.xml index 09b63ddc7352b..5ee9d81cb13f9 100644 --- a/launch/tier4_map_launch/package.xml +++ b/launch/tier4_map_launch/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + map_loader map_tf_generator diff --git a/launch/tier4_perception_launch/CMakeLists.txt b/launch/tier4_perception_launch/CMakeLists.txt index 5fc85d2ee4c56..fef1049b54b92 100644 --- a/launch/tier4_perception_launch/CMakeLists.txt +++ b/launch/tier4_perception_launch/CMakeLists.txt @@ -1,13 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_perception_launch) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package( INSTALL_TO_SHARE diff --git a/launch/tier4_perception_launch/package.xml b/launch/tier4_perception_launch/package.xml index b83c8b3676a32..394748945a6a0 100644 --- a/launch/tier4_perception_launch/package.xml +++ b/launch/tier4_perception_launch/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + compare_map_segmentation euclidean_cluster ground_segmentation diff --git a/launch/tier4_planning_launch/CMakeLists.txt b/launch/tier4_planning_launch/CMakeLists.txt index 886b0215f3598..b0ab675c862f1 100644 --- a/launch/tier4_planning_launch/CMakeLists.txt +++ b/launch/tier4_planning_launch/CMakeLists.txt @@ -1,20 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_planning_launch) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wno-unused-parameter -Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package( INSTALL_TO_SHARE diff --git a/launch/tier4_planning_launch/package.xml b/launch/tier4_planning_launch/package.xml index 0f3022c6f95e5..50cadf6101f0f 100644 --- a/launch/tier4_planning_launch/package.xml +++ b/launch/tier4_planning_launch/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + behavior_velocity_planner costmap_generator external_velocity_limit_selector diff --git a/launch/tier4_sensing_launch/CMakeLists.txt b/launch/tier4_sensing_launch/CMakeLists.txt index c313fd6105dc7..87cd3b4e259cc 100644 --- a/launch/tier4_sensing_launch/CMakeLists.txt +++ b/launch/tier4_sensing_launch/CMakeLists.txt @@ -1,13 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_sensing_launch) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package(INSTALL_TO_SHARE launch diff --git a/launch/tier4_sensing_launch/package.xml b/launch/tier4_sensing_launch/package.xml index 1fa474889be7c..c35082aa7c1be 100644 --- a/launch/tier4_sensing_launch/package.xml +++ b/launch/tier4_sensing_launch/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + vehicle_info_util ament_lint_auto diff --git a/launch/tier4_simulator_launch/CMakeLists.txt b/launch/tier4_simulator_launch/CMakeLists.txt index 37e0aa2f6828f..ffc501b68964b 100644 --- a/launch/tier4_simulator_launch/CMakeLists.txt +++ b/launch/tier4_simulator_launch/CMakeLists.txt @@ -1,13 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_simulator_launch) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package(INSTALL_TO_SHARE launch diff --git a/launch/tier4_simulator_launch/package.xml b/launch/tier4_simulator_launch/package.xml index ff2f0f653566a..7964e7c499a11 100644 --- a/launch/tier4_simulator_launch/package.xml +++ b/launch/tier4_simulator_launch/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + dummy_perception_publisher fault_injection simple_planning_simulator diff --git a/launch/tier4_system_launch/CMakeLists.txt b/launch/tier4_system_launch/CMakeLists.txt index a4506ba6613aa..f1681aa39035f 100644 --- a/launch/tier4_system_launch/CMakeLists.txt +++ b/launch/tier4_system_launch/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_system_launch) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package(INSTALL_TO_SHARE launch diff --git a/launch/tier4_system_launch/package.xml b/launch/tier4_system_launch/package.xml index 5ba75d8a22745..f5675b60cce3c 100644 --- a/launch/tier4_system_launch/package.xml +++ b/launch/tier4_system_launch/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + ad_service_state_monitor emergency_handler system_error_monitor diff --git a/launch/tier4_vehicle_launch/CMakeLists.txt b/launch/tier4_vehicle_launch/CMakeLists.txt index 2281b95d869d7..b363a8ff68311 100644 --- a/launch/tier4_vehicle_launch/CMakeLists.txt +++ b/launch/tier4_vehicle_launch/CMakeLists.txt @@ -1,16 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_vehicle_launch) -add_compile_options(-std=c++14) - -find_package(ament_cmake_auto REQUIRED) - -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package(INSTALL_TO_SHARE launch diff --git a/launch/tier4_vehicle_launch/package.xml b/launch/tier4_vehicle_launch/package.xml index 9cc45db226b89..501316732d67b 100644 --- a/launch/tier4_vehicle_launch/package.xml +++ b/launch/tier4_vehicle_launch/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + robot_state_publisher xacro diff --git a/localization/ekf_localizer/CMakeLists.txt b/localization/ekf_localizer/CMakeLists.txt index e62a6dcaa9d6a..aa70ff9c27bff 100644 --- a/localization/ekf_localizer/CMakeLists.txt +++ b/localization/ekf_localizer/CMakeLists.txt @@ -1,19 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(ekf_localizer) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -# find dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Eigen3 REQUIRED) @@ -45,11 +34,6 @@ endif() # ament_target_dependencies(ekf_localizer-test geometry_msgs rclcpp tf2 tf2_ros) # endif() -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml index cb41fd678c838..c67cfaa400a0d 100644 --- a/localization/ekf_localizer/package.xml +++ b/localization/ekf_localizer/package.xml @@ -10,6 +10,7 @@ ament_cmake_auto eigen3_cmake_module + autoware_cmake eigen geometry_msgs diff --git a/localization/gyro_odometer/CMakeLists.txt b/localization/gyro_odometer/CMakeLists.txt index 6a4f79e5a3799..97c943fd8c7f2 100644 --- a/localization/gyro_odometer/CMakeLists.txt +++ b/localization/gyro_odometer/CMakeLists.txt @@ -1,28 +1,12 @@ cmake_minimum_required(VERSION 3.5) project(gyro_odometer) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -set(GYRO_ODOMETER_SRC - src/gyro_odometer_core.cpp) - -set(GYRO_ODOMETER_HEADERS - include/gyro_odometer/gyro_odometer_core.hpp) +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_executable(${PROJECT_NAME} src/gyro_odometer_node.cpp - ${GYRO_ODOMETER_SRC} - ${GYRO_ODOMETER_HEADERS} + src/gyro_odometer_core.cpp ) # workaround to allow deprecated header to build on both galactic and rolling @@ -32,11 +16,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/localization/gyro_odometer/package.xml b/localization/gyro_odometer/package.xml index b9c05e5f19318..f2869ee024d90 100644 --- a/localization/gyro_odometer/package.xml +++ b/localization/gyro_odometer/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + geometry_msgs sensor_msgs std_msgs diff --git a/localization/initial_pose_button_panel/CMakeLists.txt b/localization/initial_pose_button_panel/CMakeLists.txt index b4194c5daf792..b9b24df565467 100644 --- a/localization/initial_pose_button_panel/CMakeLists.txt +++ b/localization/initial_pose_button_panel/CMakeLists.txt @@ -1,15 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(initial_pose_button_panel) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -25,11 +18,6 @@ target_link_libraries(initial_pose_button_panel # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) -find_package(ament_lint_auto REQUIRED) -ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE plugins diff --git a/localization/initial_pose_button_panel/package.xml b/localization/initial_pose_button_panel/package.xml index c19d3995ee614..018308a2d827f 100644 --- a/localization/initial_pose_button_panel/package.xml +++ b/localization/initial_pose_button_panel/package.xml @@ -10,6 +10,9 @@ Yamato ANDO ament_cmake_auto + + autoware_cmake + geometry_msgs libqt5-core libqt5-widgets diff --git a/localization/localization_error_monitor/CMakeLists.txt b/localization/localization_error_monitor/CMakeLists.txt index 1fecce9947e05..17b76573266a1 100644 --- a/localization/localization_error_monitor/CMakeLists.txt +++ b/localization/localization_error_monitor/CMakeLists.txt @@ -1,23 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(localization_error_monitor) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() - -# Target -## Add executables ament_auto_add_executable(localization_error_monitor src/main.cpp src/node.cpp @@ -30,11 +16,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/localization/localization_error_monitor/package.xml b/localization/localization_error_monitor/package.xml index 67d2825d9ba6e..70f46272d2951 100644 --- a/localization/localization_error_monitor/package.xml +++ b/localization/localization_error_monitor/package.xml @@ -11,6 +11,8 @@ ament_cmake_auto + autoware_cmake + diagnostic_msgs diagnostic_updater eigen diff --git a/localization/ndt/CMakeLists.txt b/localization/ndt/CMakeLists.txt index e7542aee07cfb..140c439c092e1 100644 --- a/localization/ndt/CMakeLists.txt +++ b/localization/ndt/CMakeLists.txt @@ -1,6 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(ndt) +find_package(autoware_cmake REQUIRED) +autoware_package() + # Compile flags for SIMD instructions # Be careful to change these options, especially when `ndt_omp` implementation is used. # All packages linked to `ndt_omp` should use the same SIMD instruction set. @@ -19,19 +22,7 @@ else() endif() endif() -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake REQUIRED) find_package(PCL REQUIRED COMPONENTS common io registration) -find_package(ndt_omp REQUIRED) -find_package(ndt_pcl_modified REQUIRED) add_library(ndt src/base.cpp @@ -75,9 +66,4 @@ install( RUNTIME DESTINATION bin ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_package() diff --git a/localization/ndt/package.xml b/localization/ndt/package.xml index f368390a6becc..562cf813c99fa 100644 --- a/localization/ndt/package.xml +++ b/localization/ndt/package.xml @@ -9,6 +9,8 @@ ament_cmake + autoware_cmake + libpcl-all-dev ndt_omp ndt_pcl_modified diff --git a/localization/ndt_pcl_modified/CMakeLists.txt b/localization/ndt_pcl_modified/CMakeLists.txt index 47605e0cace66..f90d2fb0b83d9 100644 --- a/localization/ndt_pcl_modified/CMakeLists.txt +++ b/localization/ndt_pcl_modified/CMakeLists.txt @@ -1,6 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(ndt_pcl_modified) +find_package(autoware_cmake REQUIRED) +autoware_package() + # Compile flags for SIMD instructions # Be careful to change these options, especially when `ndt_omp` implementation is used. # All packages linked to `ndt_omp` should use the same SIMD instruction set. @@ -19,16 +22,6 @@ else() endif() endif() -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake REQUIRED) find_package(PCL REQUIRED COMPONENTS common) add_library(ndt_pcl_modified @@ -64,9 +57,4 @@ install( INCLUDES DESTINATION include ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_package() diff --git a/localization/ndt_pcl_modified/package.xml b/localization/ndt_pcl_modified/package.xml index 7365a968313c2..e461af6c35ca0 100644 --- a/localization/ndt_pcl_modified/package.xml +++ b/localization/ndt_pcl_modified/package.xml @@ -9,6 +9,8 @@ ament_cmake + autoware_cmake + libpcl-all-dev ament_cmake_cppcheck diff --git a/localization/ndt_scan_matcher/CMakeLists.txt b/localization/ndt_scan_matcher/CMakeLists.txt index 090304df8a5a5..b23b656b3497c 100644 --- a/localization/ndt_scan_matcher/CMakeLists.txt +++ b/localization/ndt_scan_matcher/CMakeLists.txt @@ -1,6 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(ndt_scan_matcher) +find_package(autoware_cmake REQUIRED) +autoware_package() + # Compile flags for SIMD instructions # Be careful to change these options, especially when `ndt_omp` implementation is used. # All packages linked to `ndt_omp` should use the same SIMD instruction set. @@ -19,19 +22,6 @@ else() endif() endif() -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - ament_auto_add_executable(ndt_scan_matcher src/debug.cpp src/ndt_scan_matcher_node.cpp @@ -46,11 +36,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/localization/ndt_scan_matcher/package.xml b/localization/ndt_scan_matcher/package.xml index f8f461fbc6949..e7da0e9931777 100644 --- a/localization/ndt_scan_matcher/package.xml +++ b/localization/ndt_scan_matcher/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + diagnostic_msgs fmt geometry_msgs diff --git a/localization/pose2twist/CMakeLists.txt b/localization/pose2twist/CMakeLists.txt index ba24100ca17f4..3a1d98d882dde 100644 --- a/localization/pose2twist/CMakeLists.txt +++ b/localization/pose2twist/CMakeLists.txt @@ -1,14 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(pose2twist) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_executable(pose2twist src/pose2twist_node.cpp @@ -22,11 +16,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/localization/pose2twist/package.xml b/localization/pose2twist/package.xml index 9efcc859c8e27..71fd56f02f27e 100644 --- a/localization/pose2twist/package.xml +++ b/localization/pose2twist/package.xml @@ -9,6 +9,8 @@ ament_cmake + autoware_cmake + geometry_msgs rclcpp tf2_geometry_msgs diff --git a/localization/pose_initializer/CMakeLists.txt b/localization/pose_initializer/CMakeLists.txt index cd0de24582843..ec324acef263a 100644 --- a/localization/pose_initializer/CMakeLists.txt +++ b/localization/pose_initializer/CMakeLists.txt @@ -1,20 +1,10 @@ cmake_minimum_required(VERSION 3.5) project(pose_initializer) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -### Dependencies -find_package(ament_cmake_auto REQUIRED) find_package(PCL REQUIRED) -ament_auto_find_build_dependencies() ament_auto_add_executable(pose_initializer src/pose_initializer_node.cpp @@ -29,11 +19,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/localization/pose_initializer/package.xml b/localization/pose_initializer/package.xml index 94bb67c5c28a0..88d184b504807 100644 --- a/localization/pose_initializer/package.xml +++ b/localization/pose_initializer/package.xml @@ -9,6 +9,8 @@ ament_cmake + autoware_cmake + geometry_msgs libpcl-all-dev pcl_conversions diff --git a/localization/stop_filter/CMakeLists.txt b/localization/stop_filter/CMakeLists.txt index 6eb7a5085b6f6..d898f8e830b81 100644 --- a/localization/stop_filter/CMakeLists.txt +++ b/localization/stop_filter/CMakeLists.txt @@ -1,20 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(stop_filter) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) - add_compile_options(-Wno-unused-parameter) -endif() - -# find dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_executable(stop_filter src/stop_filter_node.cpp @@ -22,11 +10,6 @@ ament_auto_add_executable(stop_filter ) ament_target_dependencies(stop_filter) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/localization/stop_filter/package.xml b/localization/stop_filter/package.xml index 3ae3aff3e980a..b4b948c236af4 100644 --- a/localization/stop_filter/package.xml +++ b/localization/stop_filter/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + geometry_msgs nav_msgs rclcpp diff --git a/localization/vehicle_velocity_converter/CMakeLists.txt b/localization/vehicle_velocity_converter/CMakeLists.txt index b63c8f42be84a..fdc13d19abf80 100644 --- a/localization/vehicle_velocity_converter/CMakeLists.txt +++ b/localization/vehicle_velocity_converter/CMakeLists.txt @@ -1,19 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(vehicle_velocity_converter) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -# find dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_executable(vehicle_velocity_converter src/vehicle_velocity_converter_node.cpp @@ -21,11 +10,6 @@ ament_auto_add_executable(vehicle_velocity_converter ) ament_target_dependencies(vehicle_velocity_converter) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/localization/vehicle_velocity_converter/package.xml b/localization/vehicle_velocity_converter/package.xml index afc01f892dd6c..e6816afb8b511 100644 --- a/localization/vehicle_velocity_converter/package.xml +++ b/localization/vehicle_velocity_converter/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_vehicle_msgs geometry_msgs rclcpp diff --git a/map/lanelet2_extension/CMakeLists.txt b/map/lanelet2_extension/CMakeLists.txt index a59b95ba2e3c8..999f181ab03c4 100644 --- a/map/lanelet2_extension/CMakeLists.txt +++ b/map/lanelet2_extension/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(lanelet2_extension) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(PkgConfig) find_path(GeographicLib_INCLUDE_DIR GeographicLib/Config.h @@ -79,7 +69,6 @@ target_link_libraries(autoware_lanelet2_validation ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) ament_add_gtest(message_conversion-test test/src/test_message_conversion.cpp) target_link_libraries(message_conversion-test lanelet2_extension_lib) ament_add_gtest(projector-test test/src/test_projector.cpp) @@ -90,8 +79,6 @@ if(BUILD_TESTING) target_link_libraries(regulatory_elements-test lanelet2_extension_lib) ament_add_gtest(utilities-test test/src/test_utilities.cpp) target_link_libraries(utilities-test lanelet2_extension_lib) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() endif() ament_auto_package() diff --git a/map/lanelet2_extension/package.xml b/map/lanelet2_extension/package.xml index bd5ae7fa98687..e817b06f1be86 100644 --- a/map/lanelet2_extension/package.xml +++ b/map/lanelet2_extension/package.xml @@ -7,9 +7,10 @@ mitsudome-r Apache License 2.0 - ament_cmake ament_cmake_auto + autoware_cmake + autoware_auto_mapping_msgs geographiclib geometry_msgs diff --git a/map/map_loader/CMakeLists.txt b/map/map_loader/CMakeLists.txt index f48ced30d275c..2aed764c8e66e 100644 --- a/map/map_loader/CMakeLists.txt +++ b/map/map_loader/CMakeLists.txt @@ -1,21 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(map_loader) -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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(PCL REQUIRED COMPONENTS io) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - ament_auto_add_library(pointcloud_map_loader_node SHARED src/pointcloud_map_loader/pointcloud_map_loader_node.cpp ) @@ -54,11 +44,6 @@ install(PROGRAMS DESTINATION lib/${PROJECT_NAME} ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/map/map_loader/package.xml b/map/map_loader/package.xml index 64c331c2438ca..aa345d6a153f6 100644 --- a/map/map_loader/package.xml +++ b/map/map_loader/package.xml @@ -8,9 +8,10 @@ Kenji Miyake Apache License 2.0 - ament_cmake ament_cmake_auto + autoware_cmake + autoware_auto_mapping_msgs geometry_msgs lanelet2_extension diff --git a/map/map_tf_generator/CMakeLists.txt b/map/map_tf_generator/CMakeLists.txt index bdaa26b4a6984..cccf1bc403a1d 100644 --- a/map/map_tf_generator/CMakeLists.txt +++ b/map/map_tf_generator/CMakeLists.txt @@ -1,24 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(map_tf_generator) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -### ROS Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -### non-ROS Dependencies find_package(PCL REQUIRED) -# Generate exe file ament_auto_add_library(map_tf_generator_node SHARED src/map_tf_generator_node.cpp ) @@ -29,12 +16,6 @@ rclcpp_components_register_node(map_tf_generator_node EXECUTABLE map_tf_generator ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -## Install ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/map/map_tf_generator/package.xml b/map/map_tf_generator/package.xml index e1f74fd40511d..9aaf14bc5fda7 100644 --- a/map/map_tf_generator/package.xml +++ b/map/map_tf_generator/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + libpcl-all-dev pcl_conversions rclcpp diff --git a/map/util/lanelet2_map_preprocessor/CMakeLists.txt b/map/util/lanelet2_map_preprocessor/CMakeLists.txt index 13d17586553f9..47939a8324930 100644 --- a/map/util/lanelet2_map_preprocessor/CMakeLists.txt +++ b/map/util/lanelet2_map_preprocessor/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(lanelet2_map_preprocessor) -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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() include_directories( include diff --git a/map/util/lanelet2_map_preprocessor/package.xml b/map/util/lanelet2_map_preprocessor/package.xml index 41b4243e56ba6..d416d6a455593 100644 --- a/map/util/lanelet2_map_preprocessor/package.xml +++ b/map/util/lanelet2_map_preprocessor/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + lanelet2_extension pcl_ros rclcpp diff --git a/perception/compare_map_segmentation/CMakeLists.txt b/perception/compare_map_segmentation/CMakeLists.txt index c2983c01f236a..ca77670979850 100644 --- a/perception/compare_map_segmentation/CMakeLists.txt +++ b/perception/compare_map_segmentation/CMakeLists.txt @@ -1,34 +1,15 @@ cmake_minimum_required(VERSION 3.5) project(compare_map_segmentation) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -# Ignore PCL errors in Clang -if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wno-gnu-anonymous-struct -Wno-nested-anon-types) -endif() - -find_package(ament_cmake_auto REQUIRED) find_package(OpenCV REQUIRED) find_package(Eigen3 REQUIRED) find_package(Boost REQUIRED) find_package(PCL REQUIRED) find_package(pcl_conversions REQUIRED) find_package(OpenMP) -ament_auto_find_build_dependencies() - - -########### -## Build ## -########### include_directories( include @@ -87,12 +68,6 @@ rclcpp_components_register_node(compare_map_segmentation PLUGIN "compare_map_segmentation::CompareElevationMapFilterComponent" EXECUTABLE compare_elevation_map_filter_node) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/perception/compare_map_segmentation/package.xml b/perception/compare_map_segmentation/package.xml index ad4665785aafa..ff4a17e837513 100644 --- a/perception/compare_map_segmentation/package.xml +++ b/perception/compare_map_segmentation/package.xml @@ -15,6 +15,8 @@ ament_cmake_auto + autoware_cmake + grid_map_pcl grid_map_ros pcl_conversions diff --git a/perception/detected_object_feature_remover/CMakeLists.txt b/perception/detected_object_feature_remover/CMakeLists.txt index bcb9165ed5b6d..c4f7c8eba760e 100644 --- a/perception/detected_object_feature_remover/CMakeLists.txt +++ b/perception/detected_object_feature_remover/CMakeLists.txt @@ -1,21 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(detected_object_feature_remover) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -# Generate exe file ament_auto_add_library(detected_object_feature_remover_node SHARED src/detected_object_feature_remover.cpp ) diff --git a/perception/detected_object_feature_remover/package.xml b/perception/detected_object_feature_remover/package.xml index de82f3ef1169f..686c01621c546 100644 --- a/perception/detected_object_feature_remover/package.xml +++ b/perception/detected_object_feature_remover/package.xml @@ -9,6 +9,8 @@ ament_cmake + autoware_cmake + autoware_auto_perception_msgs rclcpp rclcpp_components diff --git a/perception/detected_object_validation/CMakeLists.txt b/perception/detected_object_validation/CMakeLists.txt index e2db5edeb9a3c..13135a39f5fab 100644 --- a/perception/detected_object_validation/CMakeLists.txt +++ b/perception/detected_object_validation/CMakeLists.txt @@ -1,23 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(detected_object_validation) -### Compile options -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) -endif() - -# Ignore -Wnonportable-include-path in Clang for mussp -if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wno-nonportable-include-path) -endif() - -### Find Packages -find_package(ament_cmake_auto REQUIRED) +find_package(autoware_cmake REQUIRED) +autoware_package() ### Find OpenCV Dependencies find_package(OpenCV REQUIRED) @@ -29,9 +14,6 @@ find_package(PCL REQUIRED QUIET COMPONENTS common search filters segmentation) find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) -### Find dependencies listed in the package.xml -ament_auto_find_build_dependencies() - include_directories( include SYSTEM @@ -81,11 +63,6 @@ rclcpp_components_register_node(obstacle_pointcloud_based_validator EXECUTABLE obstacle_pointcloud_based_validator_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/perception/detected_object_validation/package.xml b/perception/detected_object_validation/package.xml index 7a7110792a324..47e1905f153d6 100644 --- a/perception/detected_object_validation/package.xml +++ b/perception/detected_object_validation/package.xml @@ -10,6 +10,8 @@ ament_cmake_auto eigen3_cmake_module + autoware_cmake + autoware_auto_perception_msgs message_filters nav_msgs diff --git a/perception/detection_by_tracker/CMakeLists.txt b/perception/detection_by_tracker/CMakeLists.txt index 37478b5aa8d6b..da4e67d8e8b24 100644 --- a/perception/detection_by_tracker/CMakeLists.txt +++ b/perception/detection_by_tracker/CMakeLists.txt @@ -1,24 +1,14 @@ cmake_minimum_required(VERSION 3.5) project(detection_by_tracker) -### Compile options -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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() # Ignore -Wnonportable-include-path in Clang for mussp if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wno-nonportable-include-path) endif() -### Find Packages -find_package(ament_cmake_auto REQUIRED) - ### Find PCL Dependencies find_package(PCL REQUIRED) @@ -26,9 +16,6 @@ find_package(PCL REQUIRED) find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) -### Find dependencies listed in the package.xml -ament_auto_find_build_dependencies() - include_directories( include SYSTEM @@ -63,11 +50,6 @@ rclcpp_components_register_node(detection_by_tracker_node EXECUTABLE detection_by_tracker ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/perception/detection_by_tracker/package.xml b/perception/detection_by_tracker/package.xml index ec234e6636955..d42d650b731d8 100644 --- a/perception/detection_by_tracker/package.xml +++ b/perception/detection_by_tracker/package.xml @@ -10,6 +10,8 @@ ament_cmake_auto eigen3_cmake_module + autoware_cmake + eigen euclidean_cluster libpcl-all-dev diff --git a/perception/elevation_map_loader/CMakeLists.txt b/perception/elevation_map_loader/CMakeLists.txt index 8f5faa9a38513..ab2c1dcc20e1d 100644 --- a/perception/elevation_map_loader/CMakeLists.txt +++ b/perception/elevation_map_loader/CMakeLists.txt @@ -1,21 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(elevation_map_loader) -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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(PCL REQUIRED COMPONENTS io) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - ament_auto_add_library(elevation_map_loader_node SHARED src/elevation_map_loader_node.cpp ) @@ -26,11 +16,6 @@ rclcpp_components_register_node(elevation_map_loader_node EXECUTABLE elevation_map_loader ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/perception/elevation_map_loader/package.xml b/perception/elevation_map_loader/package.xml index 308b555213d83..282c4e7cdb446 100644 --- a/perception/elevation_map_loader/package.xml +++ b/perception/elevation_map_loader/package.xml @@ -8,9 +8,10 @@ Taichi Higashide Apache License 2.0 - ament_cmake ament_cmake_auto + autoware_cmake + autoware_auto_mapping_msgs grid_map_cv grid_map_pcl diff --git a/perception/euclidean_cluster/CMakeLists.txt b/perception/euclidean_cluster/CMakeLists.txt index 99cc683cc3815..d89921b12e2c1 100644 --- a/perception/euclidean_cluster/CMakeLists.txt +++ b/perception/euclidean_cluster/CMakeLists.txt @@ -1,17 +1,10 @@ cmake_minimum_required(VERSION 3.5) project(euclidean_cluster) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -find_package(ament_cmake_auto REQUIRED) find_package(PCL REQUIRED) -ament_auto_find_build_dependencies() - include_directories( include diff --git a/perception/euclidean_cluster/package.xml b/perception/euclidean_cluster/package.xml index 39bcb091dca40..d99c923d91928 100644 --- a/perception/euclidean_cluster/package.xml +++ b/perception/euclidean_cluster/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_perception_msgs compare_map_segmentation geometry_msgs diff --git a/perception/ground_segmentation/CMakeLists.txt b/perception/ground_segmentation/CMakeLists.txt index 5326fd95b82b4..6cbdd9a75f844 100644 --- a/perception/ground_segmentation/CMakeLists.txt +++ b/perception/ground_segmentation/CMakeLists.txt @@ -1,34 +1,15 @@ cmake_minimum_required(VERSION 3.5) project(ground_segmentation) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -# Ignore PCL errors in Clang -if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wno-gnu-anonymous-struct -Wno-nested-anon-types) -endif() - -find_package(ament_cmake_auto REQUIRED) find_package(OpenCV REQUIRED) find_package(Eigen3 REQUIRED) find_package(Boost REQUIRED) find_package(PCL REQUIRED) find_package(pcl_conversions REQUIRED) find_package(OpenMP) -ament_auto_find_build_dependencies() - - -########### -## Build ## -########### include_directories( include @@ -82,15 +63,6 @@ rclcpp_components_register_node(ground_segmentation PLUGIN "ground_segmentation::ScanGroundFilterComponent" EXECUTABLE scan_ground_filter_node) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -############# -## Install ## -############# - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/perception/ground_segmentation/package.xml b/perception/ground_segmentation/package.xml index 4842fb688d92a..ace1698165af3 100644 --- a/perception/ground_segmentation/package.xml +++ b/perception/ground_segmentation/package.xml @@ -15,6 +15,8 @@ ament_cmake_auto + autoware_cmake + libopencv-dev pcl_conversions pcl_ros diff --git a/perception/image_projection_based_fusion/CMakeLists.txt b/perception/image_projection_based_fusion/CMakeLists.txt index 06703aa8d08d9..00592a798fd40 100644 --- a/perception/image_projection_based_fusion/CMakeLists.txt +++ b/perception/image_projection_based_fusion/CMakeLists.txt @@ -1,21 +1,12 @@ cmake_minimum_required(VERSION 3.8) project(image_projection_based_fusion) -if (NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -# find dependencies -find_package(ament_lint_auto REQUIRED) -find_package(ament_cmake_auto REQUIRED) find_package(OpenCV REQUIRED) find_package(Eigen3 REQUIRED) -ament_auto_find_build_dependencies() - include_directories( include ${OpenCV_INCLUDE_DIRS} @@ -52,10 +43,6 @@ rclcpp_components_register_node(${PROJECT_NAME} EXECUTABLE roi_detected_object_fusion_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/perception/image_projection_based_fusion/package.xml b/perception/image_projection_based_fusion/package.xml index 7d0a64f91d60f..0665772bc2de0 100644 --- a/perception/image_projection_based_fusion/package.xml +++ b/perception/image_projection_based_fusion/package.xml @@ -9,6 +9,9 @@ Apache License 2.0 ament_cmake_auto + + autoware_cmake + autoware_auto_perception_msgs cv_bridge image_transport diff --git a/perception/lidar_apollo_instance_segmentation/CMakeLists.txt b/perception/lidar_apollo_instance_segmentation/CMakeLists.txt index 0354ea649a3a6..51dda1a2eaffc 100644 --- a/perception/lidar_apollo_instance_segmentation/CMakeLists.txt +++ b/perception/lidar_apollo_instance_segmentation/CMakeLists.txt @@ -1,6 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(lidar_apollo_instance_segmentation) +find_package(autoware_cmake REQUIRED) +autoware_package() + # TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) add_compile_options(-Wno-deprecated-declarations) @@ -9,21 +12,21 @@ option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) # set flags for CUDA availability option(CUDA_AVAIL "CUDA available" OFF) find_package(CUDA) -if (CUDA_FOUND) +if(CUDA_FOUND) find_library(CUBLAS_LIBRARIES cublas HINTS ${CUDA_TOOLKIT_ROOT_DIR}/lib64 ${CUDA_TOOLKIT_ROOT_DIR}/lib ) - if (CUDA_VERBOSE) + if(CUDA_VERBOSE) message("CUDA is available!") message("CUDA Libs: ${CUDA_LIBRARIES}") message("CUDA Headers: ${CUDA_INCLUDE_DIRS}") - endif () + endif() set(CUDA_AVAIL ON) else() message("CUDA NOT FOUND") set(CUDA_AVAIL OFF) -endif (CUDA_FOUND) +endif() # set flags for TensorRT availability option(TRT_AVAIL "TensorRT available" OFF) @@ -33,12 +36,12 @@ find_library(NVPARSERS NAMES nvparsers) find_library(NVCAFFE_PARSER NAMES nvcaffe_parser) find_library(NVINFER_PLUGIN NAMES nvinfer_plugin) if(NVINFER AND NVPARSERS AND NVCAFFE_PARSER AND NVINFER_PLUGIN) - if (CUDA_VERBOSE) + if(CUDA_VERBOSE) message("TensorRT is available!") message("NVINFER: ${NVINFER}") message("NVPARSERS: ${NVPARSERS}") message("NVCAFFE_PARSER: ${NVCAFFE_PARSER}") - endif () + endif() set(TRT_AVAIL ON) else() message("TensorRT is NOT Available") @@ -49,15 +52,16 @@ endif() option(CUDNN_AVAIL "CUDNN available" OFF) # try to find the CUDNN module find_library(CUDNN_LIBRARY -NAMES libcudnn.so${__cudnn_ver_suffix} libcudnn${__cudnn_ver_suffix}.dylib ${__cudnn_lib_win_name} -PATHS $ENV{LD_LIBRARY_PATH} ${__libpath_cudart} ${CUDNN_ROOT_DIR} ${PC_CUDNN_LIBRARY_DIRS} ${CMAKE_INSTALL_PREFIX} -PATH_SUFFIXES lib lib64 bin -DOC "CUDNN library." ) + NAMES libcudnn.so${__cudnn_ver_suffix} libcudnn${__cudnn_ver_suffix}.dylib ${__cudnn_lib_win_name} + PATHS $ENV{LD_LIBRARY_PATH} ${__libpath_cudart} ${CUDNN_ROOT_DIR} ${PC_CUDNN_LIBRARY_DIRS} ${CMAKE_INSTALL_PREFIX} + PATH_SUFFIXES lib lib64 bin + DOC "CUDNN library." +) if(CUDNN_LIBRARY) - if (CUDA_VERBOSE) + if(CUDA_VERBOSE) message("CUDNN is available!") message("CUDNN_LIBRARY: ${CUDNN_LIBRARY}") - endif () + endif() set(CUDNN_AVAIL ON) else() message("CUDNN is NOT Available") @@ -65,47 +69,36 @@ else() endif() find_program(GDOWN_AVAIL "gdown") -if (NOT GDOWN_AVAIL) +if(NOT GDOWN_AVAIL) message("gdown: command not found. External files could not be downloaded.") endif() if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) # download weight files set(PATH "${CMAKE_CURRENT_SOURCE_DIR}/data") - if (NOT EXISTS "${PATH}") + if(NOT EXISTS "${PATH}") execute_process(COMMAND mkdir -p ${PATH}) endif() set(FILE "${PATH}/vlp-16.caffemodel") message(STATUS "Checking and downloading vlp-16.caffemodel") - if (NOT EXISTS "${FILE}") + if(NOT EXISTS "${FILE}") message(STATUS "... file does not exist. Downloading now ...") execute_process(COMMAND gdown "https://drive.google.com/uc?id=1bbO_eeGG5HUqyUiAYjOd6hUn-Zma0mMJ" -O ${PATH}/vlp-16.caffemodel) endif() set(FILE "${PATH}/hdl-64.caffemodel") message(STATUS "Checking and downloading hdl-64.caffemodel") - if (NOT EXISTS "${FILE}") + if(NOT EXISTS "${FILE}") message(STATUS "... file does not exist. Downloading now ...") execute_process(COMMAND gdown "https://drive.google.com/uc?id=1ZdB6V3jua3GmtYuY9NR1nc9QZe_ChjkP" -O ${PATH}/hdl-64.caffemodel) endif() set(FILE "${PATH}/vls-128.caffemodel") message(STATUS "Checking and downloading vls-128.caffemodel") - if (NOT EXISTS "${FILE}") + if(NOT EXISTS "${FILE}") message(STATUS "... file does not exist. Downloading now ...") execute_process(COMMAND gdown "https://drive.google.com/uc?id=1izpNotNxS6mrYIzJwHQ_EyX_IPDU-MBr" -O ${PATH}/vls-128.caffemodel) endif() - find_package(ament_cmake_auto REQUIRED) - ament_auto_find_build_dependencies() find_package(PCL REQUIRED) - if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) - endif() - if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Wno-deprecated-declarations -Werror) - endif() - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -O3") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D_MWAITXINTRIN_H_INCLUDED") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D_FORCE_INLINES") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D__STRICT_ANSI__") @@ -156,11 +149,6 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) EXECUTABLE lidar_apollo_instance_segmentation_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config @@ -168,14 +156,6 @@ endif() ) else() - find_package(ament_cmake_auto REQUIRED) - ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - # to avoid launch file missing without a gpu ament_auto_package(INSTALL_TO_SHARE launch diff --git a/perception/lidar_apollo_instance_segmentation/package.xml b/perception/lidar_apollo_instance_segmentation/package.xml index 0a152fa38426e..3f01d38f19643 100755 --- a/perception/lidar_apollo_instance_segmentation/package.xml +++ b/perception/lidar_apollo_instance_segmentation/package.xml @@ -12,6 +12,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_perception_msgs libpcl-all-dev pcl_conversions diff --git a/perception/lidar_centerpoint/CMakeLists.txt b/perception/lidar_centerpoint/CMakeLists.txt index 782eaf12989f1..1f0e86c25e378 100644 --- a/perception/lidar_centerpoint/CMakeLists.txt +++ b/perception/lidar_centerpoint/CMakeLists.txt @@ -1,14 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(lidar_centerpoint) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() # TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) add_compile_options(-Wno-deprecated-declarations -Wno-unknown-pragmas) @@ -178,11 +172,6 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) EXECUTABLE lidar_centerpoint_node ) - if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - endif() - ament_auto_package( INSTALL_TO_SHARE launch @@ -193,10 +182,6 @@ else() find_package(ament_cmake_auto REQUIRED) ament_auto_find_build_dependencies() - if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - endif() ament_auto_package( INSTALL_TO_SHARE launch diff --git a/perception/lidar_centerpoint/package.xml b/perception/lidar_centerpoint/package.xml index 96d7c54b93ff7..71e8f71f6212f 100644 --- a/perception/lidar_centerpoint/package.xml +++ b/perception/lidar_centerpoint/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_perception_msgs pcl_ros rclcpp diff --git a/perception/map_based_prediction/CMakeLists.txt b/perception/map_based_prediction/CMakeLists.txt index 22ea05cae0f68..387718b7cc200 100644 --- a/perception/map_based_prediction/CMakeLists.txt +++ b/perception/map_based_prediction/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(map_based_prediction) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Eigen3 REQUIRED) @@ -34,11 +24,6 @@ rclcpp_components_register_node(map_based_prediction_node EXECUTABLE map_based_prediction ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE config diff --git a/perception/map_based_prediction/package.xml b/perception/map_based_prediction/package.xml index 6b54e118a168a..531d3e967b8ba 100644 --- a/perception/map_based_prediction/package.xml +++ b/perception/map_based_prediction/package.xml @@ -9,6 +9,8 @@ ament_cmake + autoware_cmake + autoware_auto_perception_msgs interpolation lanelet2_extension diff --git a/perception/multi_object_tracker/CMakeLists.txt b/perception/multi_object_tracker/CMakeLists.txt index b03285d290d73..2402f68c49ae4 100644 --- a/perception/multi_object_tracker/CMakeLists.txt +++ b/perception/multi_object_tracker/CMakeLists.txt @@ -1,31 +1,18 @@ cmake_minimum_required(VERSION 3.5) project(multi_object_tracker) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() # Ignore -Wnonportable-include-path in Clang for mussp if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wno-nonportable-include-path) endif() -### Find Packages -find_package(ament_cmake_auto REQUIRED) - ### Find Eigen Dependencies find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) -### Find dependencies listed in the package.xml -ament_auto_find_build_dependencies() - # Generate exe file set(MULTI_OBJECT_TRACKER_SRC src/multi_object_tracker_core.cpp @@ -67,11 +54,6 @@ rclcpp_components_register_node(multi_object_tracker_node EXECUTABLE multi_object_tracker ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/perception/multi_object_tracker/package.xml b/perception/multi_object_tracker/package.xml index 55b5c7aa4e5d5..6bc48b5e0979d 100644 --- a/perception/multi_object_tracker/package.xml +++ b/perception/multi_object_tracker/package.xml @@ -11,6 +11,8 @@ ament_cmake_auto eigen3_cmake_module + autoware_cmake + autoware_auto_perception_msgs eigen kalman_filter diff --git a/perception/object_merger/CMakeLists.txt b/perception/object_merger/CMakeLists.txt index e8b1b78d3e071..508c567f1aabe 100644 --- a/perception/object_merger/CMakeLists.txt +++ b/perception/object_merger/CMakeLists.txt @@ -1,23 +1,10 @@ cmake_minimum_required(VERSION 3.5) project(object_merger) -find_package(PCL REQUIRED COMPONENTS common filters) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -include_directories( - include -) +find_package(PCL REQUIRED COMPONENTS common filters) ament_auto_add_library(object_association_merger SHARED src/object_association_merger/utils/utils.cpp @@ -33,15 +20,6 @@ rclcpp_components_register_node(object_association_merger EXECUTABLE object_association_merger_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -############# -## Install ## -############# - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/perception/object_merger/package.xml b/perception/object_merger/package.xml index 285ee4fbd4351..7f86280369a98 100644 --- a/perception/object_merger/package.xml +++ b/perception/object_merger/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_perception_msgs libpcl-all-dev message_filters diff --git a/perception/object_range_splitter/CMakeLists.txt b/perception/object_range_splitter/CMakeLists.txt index 8f7f5fd4f33c5..fe7a0429d54e9 100644 --- a/perception/object_range_splitter/CMakeLists.txt +++ b/perception/object_range_splitter/CMakeLists.txt @@ -1,23 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(object_range_splitter) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -########### -## Build ## -########### - -include_directories( - include -) +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(object_range_splitter SHARED src/node.cpp @@ -28,15 +13,6 @@ rclcpp_components_register_node(object_range_splitter EXECUTABLE object_range_splitter_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -############# -## Install ## -############# - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/perception/object_range_splitter/package.xml b/perception/object_range_splitter/package.xml index 3ac0e5d114c65..9a2ac13b35113 100644 --- a/perception/object_range_splitter/package.xml +++ b/perception/object_range_splitter/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_perception_msgs rclcpp rclcpp_components diff --git a/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt b/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt index aa2260f483247..f42c771eb39bc 100644 --- a/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt +++ b/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt @@ -1,22 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(occupancy_grid_map_outlier_filter) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -# Ignore PCL errors in Clang -if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wno-gnu-anonymous-struct -Wno-nested-anon-types) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -find_package(ament_cmake_auto REQUIRED) find_package(OpenCV REQUIRED) find_package(Eigen3 REQUIRED) find_package(Boost REQUIRED) @@ -25,11 +12,6 @@ find_package(pcl_conversions REQUIRED) find_package(OpenMP) ament_auto_find_build_dependencies() - -########### -## Build ## -########### - include_directories( include SYSTEM @@ -64,20 +46,9 @@ if(OPENMP_FOUND) ) endif() - # -- Occupancy Grid Map Outlier Filter -- rclcpp_components_register_node(occupancy_grid_map_outlier_filter PLUGIN "occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent" EXECUTABLE occupancy_grid_map_outlier_filter_node) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -############# -## Install ## -############# - ament_auto_package(INSTALL_TO_SHARE) diff --git a/perception/occupancy_grid_map_outlier_filter/package.xml b/perception/occupancy_grid_map_outlier_filter/package.xml index c44f9f4e7862a..748e9d93c227c 100644 --- a/perception/occupancy_grid_map_outlier_filter/package.xml +++ b/perception/occupancy_grid_map_outlier_filter/package.xml @@ -15,6 +15,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_vehicle_msgs diagnostic_updater image_transport diff --git a/perception/shape_estimation/CMakeLists.txt b/perception/shape_estimation/CMakeLists.txt index 2880e999dc6fe..3a2a7a536f2e8 100644 --- a/perception/shape_estimation/CMakeLists.txt +++ b/perception/shape_estimation/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(shape_estimation) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(PCL REQUIRED COMPONENTS common) find_package(pcl_conversions REQUIRED) @@ -80,11 +71,6 @@ rclcpp_components_register_node(shape_estimation_node EXECUTABLE shape_estimation ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/perception/shape_estimation/package.xml b/perception/shape_estimation/package.xml index 2fa8208d9a4a2..aa51c462b07dc 100644 --- a/perception/shape_estimation/package.xml +++ b/perception/shape_estimation/package.xml @@ -9,6 +9,8 @@ ament_cmake + autoware_cmake + autoware_auto_perception_msgs builtin_interfaces eigen diff --git a/perception/tensorrt_yolo/CMakeLists.txt b/perception/tensorrt_yolo/CMakeLists.txt index 2d04889b32eab..9823decd270c6 100755 --- a/perception/tensorrt_yolo/CMakeLists.txt +++ b/perception/tensorrt_yolo/CMakeLists.txt @@ -1,23 +1,14 @@ cmake_minimum_required(VERSION 3.5) project(tensorrt_yolo) -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 -Wno-deprecated-declarations -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() # TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) add_compile_options(-Wno-deprecated-declarations) option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - find_package(OpenCV REQUIRED) # set flags for CUDA availability @@ -243,11 +234,6 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) EXECUTABLE tensorrt_yolo_node ) - if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - endif() - ament_auto_package(INSTALL_TO_SHARE config data diff --git a/perception/tensorrt_yolo/package.xml b/perception/tensorrt_yolo/package.xml index 92422817e0c8a..68ca942435e06 100755 --- a/perception/tensorrt_yolo/package.xml +++ b/perception/tensorrt_yolo/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_perception_msgs cv_bridge image_transport diff --git a/perception/traffic_light_classifier/CMakeLists.txt b/perception/traffic_light_classifier/CMakeLists.txt index 76cb89264d702..a82057885191e 100644 --- a/perception/traffic_light_classifier/CMakeLists.txt +++ b/perception/traffic_light_classifier/CMakeLists.txt @@ -1,12 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(traffic_light_classifier) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Wno-deprecated-declarations -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() # TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) add_compile_options(-Wno-deprecated-declarations) @@ -15,21 +11,21 @@ option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) # set flags for CUDA availability option(CUDA_AVAIL "CUDA available" OFF) find_package(CUDA) -if (CUDA_FOUND) +if(CUDA_FOUND) find_library(CUBLAS_LIBRARIES cublas HINTS ${CUDA_TOOLKIT_ROOT_DIR}/lib64 ${CUDA_TOOLKIT_ROOT_DIR}/lib ) - if (CUDA_VERBOSE) + if(CUDA_VERBOSE) message(STATUS "CUDA is available!") message(STATUS "CUDA Libs: ${CUDA_LIBRARIES}") message(STATUS "CUDA Headers: ${CUDA_INCLUDE_DIRS}") - endif () + endif() set(CUDA_AVAIL ON) else() message(STATUS "CUDA NOT FOUND") set(CUDA_AVAIL OFF) -endif (CUDA_FOUND) +endif() # set flags for TensorRT availability option(TRT_AVAIL "TensorRT available" OFF) @@ -38,13 +34,13 @@ find_library(NVINFER NAMES nvinfer) find_library(NVONNXPARSER nvonnxparser) find_library(NVINFER_PLUGIN NAMES nvinfer_plugin) if(NVINFER AND NVONNXPARSER AND NVINFER_PLUGIN) - if (CUDA_VERBOSE) + if(CUDA_VERBOSE) message(STATUS "TensorRT is available!") message(STATUS "NVINFER: ${NVINFER}") message(STATUS "NVPARSERS: ${NVPARSERS}") message(STATUS "NVINFER_PLUGIN: ${NVINFER_PLUGIN}") message(STATUS "NVONNXPARSER: ${NVONNXPARSER}") - endif () + endif() set(TRT_AVAIL ON) else() message(STATUS "TensorRT is NOT Available") @@ -58,12 +54,13 @@ find_library(CUDNN_LIBRARY NAMES libcudnn.so${__cudnn_ver_suffix} libcudnn${__cudnn_ver_suffix}.dylib ${__cudnn_lib_win_name} PATHS $ENV{LD_LIBRARY_PATH} ${__libpath_cudart} ${CUDNN_ROOT_DIR} ${PC_CUDNN_LIBRARY_DIRS} ${CMAKE_INSTALL_PREFIX} PATH_SUFFIXES lib lib64 bin - DOC "CUDNN library." ) + DOC "CUDNN library." +) if(CUDNN_LIBRARY) - if (CUDA_VERBOSE) + if(CUDA_VERBOSE) message(STATUS "CUDNN is available!") message(STATUS "CUDNN_LIBRARY: ${CUDNN_LIBRARY}") - endif () + endif() set(CUDNN_AVAIL ON) else() @@ -78,18 +75,18 @@ set(LAMP_LABEL_LINK "https://drive.google.com/uc?id=1D7n3oGSWLkWgxET6PcWqEzOhmmP set(LAMP_LABEL_HASH 20167c8e9a1f9d2ec7b0b0088c4100f0) find_program(GDOWN_AVAIL "gdown") -if (NOT GDOWN_AVAIL) +if(NOT GDOWN_AVAIL) message(STATUS "gdown: command not found. External files could not be downloaded.") endif() set(PATH "${CMAKE_CURRENT_SOURCE_DIR}/data") -if (NOT EXISTS "${PATH}") +if(NOT EXISTS "${PATH}") execute_process(COMMAND mkdir -p ${PATH}) endif() set(FILE "${PATH}/traffic_light_classifier_mobilenetv2.onnx") message(STATUS "Checking and downloading traffic_light_classifier_mobilenetv2.onnx") -if (EXISTS "${FILE}") +if(EXISTS "${FILE}") file(MD5 "${FILE}" EXISTING_FILE_HASH) - if (NOT "${PRETRAINED_MODEL_HASH}" EQUAL "${EXISTING_FILE_HASH}") + if(NOT "${PRETRAINED_MODEL_HASH}" EQUAL "${EXISTING_FILE_HASH}") message(STATUS "... file hash changed. Downloading now ...") execute_process(COMMAND gdown --quiet "${PRETRAINED_MODEL_LINK}" -O ${PATH}/traffic_light_classifier_mobilenetv2.onnx) endif() @@ -100,9 +97,9 @@ endif() set(FILE "${PATH}/lamp_labels.txt") message(STATUS "Checking and downloading lamp_labels.txt") -if (EXISTS "${FILE}") +if(EXISTS "${FILE}") file(MD5 "${FILE}" EXISTING_FILE_HASH) - if (NOT "${LAMP_LABEL_HASH}" EQUAL "${EXISTING_FILE_HASH}") + if(NOT "${LAMP_LABEL_HASH}" EQUAL "${EXISTING_FILE_HASH}") message(STATUS "... file does not exist. Downloading now ...") execute_process(COMMAND gdown --quiet "${LAMP_LABEL_LINK}" -O ${PATH}/lamp_labels.txt) endif() @@ -123,7 +120,7 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) utils ${OpenCV_INCLUDE_DIRS} ${CUDA_INCLUDE_DIRS} - ) + ) ament_auto_add_library(libutils SHARED utils/trt_common.cpp @@ -163,15 +160,15 @@ else() include_directories( ${OpenCV_INCLUDE_DIRS} - ) + ) ament_auto_add_library(traffic_light_classifier_nodelet SHARED src/color_classifier.cpp src/nodelet.cpp - ) + ) target_link_libraries(traffic_light_classifier_nodelet ${OpenCV_LIBRARIES} - ) + ) rclcpp_components_register_node(traffic_light_classifier_nodelet PLUGIN "traffic_light::TrafficLightClassifierNodelet" diff --git a/perception/traffic_light_classifier/package.xml b/perception/traffic_light_classifier/package.xml index b6cc6cd687872..5629d950040d1 100644 --- a/perception/traffic_light_classifier/package.xml +++ b/perception/traffic_light_classifier/package.xml @@ -10,6 +10,8 @@ ament_cmake_auto wget + autoware_cmake + autoware_auto_perception_msgs cv_bridge image_transport diff --git a/perception/traffic_light_map_based_detector/CMakeLists.txt b/perception/traffic_light_map_based_detector/CMakeLists.txt index 7dbddc4ebc63b..4660a40fb1aab 100644 --- a/perception/traffic_light_map_based_detector/CMakeLists.txt +++ b/perception/traffic_light_map_based_detector/CMakeLists.txt @@ -1,24 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(traffic_light_map_based_detector) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Eigen3 REQUIRED) -########### -## Build ## -########### - include_directories( ${EIGEN3_INCLUDE_DIR} ) @@ -39,15 +26,6 @@ rclcpp_components_register_node(traffic_light_map_based_detector EXECUTABLE traffic_light_map_based_detector_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -############# -## Install ## -############# - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/perception/traffic_light_map_based_detector/package.xml b/perception/traffic_light_map_based_detector/package.xml index f9fd2ae03b5cf..4da85f41816e6 100644 --- a/perception/traffic_light_map_based_detector/package.xml +++ b/perception/traffic_light_map_based_detector/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs diff --git a/perception/traffic_light_ssd_fine_detector/CMakeLists.txt b/perception/traffic_light_ssd_fine_detector/CMakeLists.txt index fdffc78737186..b9ae635dcc86b 100644 --- a/perception/traffic_light_ssd_fine_detector/CMakeLists.txt +++ b/perception/traffic_light_ssd_fine_detector/CMakeLists.txt @@ -1,44 +1,34 @@ cmake_minimum_required(VERSION 3.5) - -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) -endif() - project(traffic_light_ssd_fine_detector) +find_package(autoware_cmake REQUIRED) +autoware_package() + # TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) add_compile_options(-Wno-deprecated-declarations) option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - find_package(OpenCV REQUIRED) # set flags for CUDA availability option(CUDA_AVAIL "CUDA available" OFF) find_package(CUDA) -if (CUDA_FOUND) +if(CUDA_FOUND) find_library(CUBLAS_LIBRARIES cublas HINTS ${CUDA_TOOLKIT_ROOT_DIR}/lib64 ${CUDA_TOOLKIT_ROOT_DIR}/lib ) - if (CUDA_VERBOSE) + if(CUDA_VERBOSE) message(STATUS "CUDA is available!") message(STATUS "CUDA Libs: ${CUDA_LIBRARIES}") message(STATUS "CUDA Headers: ${CUDA_INCLUDE_DIRS}") - endif () + endif() set(CUDA_AVAIL ON) else() message(STATUS "CUDA NOT FOUND") set(CUDA_AVAIL OFF) -endif (CUDA_FOUND) +endif() # set flags for TensorRT availability option(TRT_AVAIL "TensorRT available" OFF) @@ -47,13 +37,13 @@ find_library(NVINFER NAMES nvinfer) find_library(NVONNXPARSER nvonnxparser) find_library(NVINFER_PLUGIN NAMES nvinfer_plugin) if(NVINFER AND NVONNXPARSER AND NVINFER_PLUGIN) - if (CUDA_VERBOSE) + if(CUDA_VERBOSE) message(STATUS "TensorRT is available!") message(STATUS "NVINFER: ${NVINFER}") message(STATUS "NVPARSERS: ${NVPARSERS}") message(STATUS "NVINFER_PLUGIN: ${NVINFER_PLUGIN}") message(STATUS "NVONNXPARSER: ${NVONNXPARSER}") - endif () + endif() set(TRT_AVAIL ON) else() message(STATUS "TensorRT is NOT Available") @@ -64,15 +54,16 @@ endif() option(CUDNN_AVAIL "CUDNN available" OFF) # try to find the CUDNN module find_library(CUDNN_LIBRARY -NAMES libcudnn.so${__cudnn_ver_suffix} libcudnn${__cudnn_ver_suffix}.dylib ${__cudnn_lib_win_name} -PATHS $ENV{LD_LIBRARY_PATH} ${__libpath_cudart} ${CUDNN_ROOT_DIR} ${PC_CUDNN_LIBRARY_DIRS} ${CMAKE_INSTALL_PREFIX} -PATH_SUFFIXES lib lib64 bin -DOC "CUDNN library." ) + NAMES libcudnn.so${__cudnn_ver_suffix} libcudnn${__cudnn_ver_suffix}.dylib ${__cudnn_lib_win_name} + PATHS $ENV{LD_LIBRARY_PATH} ${__libpath_cudart} ${CUDNN_ROOT_DIR} ${PC_CUDNN_LIBRARY_DIRS} ${CMAKE_INSTALL_PREFIX} + PATH_SUFFIXES lib lib64 bin + DOC "CUDNN library." +) if(CUDNN_LIBRARY) - if (CUDA_VERBOSE) + if(CUDA_VERBOSE) message(STATUS "CUDNN is available!") message(STATUS "CUDNN_LIBRARY: ${CUDNN_LIBRARY}") - endif () + endif() set(CUDNN_AVAIL ON) else() message(STATUS "CUDNN is NOT Available") @@ -86,19 +77,19 @@ set(LAMP_LABEL_LINK "https://drive.google.com/uc?id=1hPcKvKgKz0fqEo0cNAXH7roElet set(LAMP_LABEL_HASH e9f45efb02f2a9aa8ac27b3d5c164905) find_program(GDOWN_AVAIL "gdown") -if (NOT GDOWN_AVAIL) +if(NOT GDOWN_AVAIL) message(STATUS "gdown: command not found. External files could not be downloaded.") endif() set(PATH "${CMAKE_CURRENT_SOURCE_DIR}/data") -if (NOT EXISTS "${PATH}") +if(NOT EXISTS "${PATH}") execute_process(COMMAND mkdir -p ${PATH}) endif() set(FILE "${PATH}/mb2-ssd-lite-tlr.onnx") message(STATUS "Checking and downloading mb2-ssd-lite-tlr.onnx") -if (EXISTS "${FILE}") +if(EXISTS "${FILE}") file(MD5 "${FILE}" EXISTING_FILE_HASH) - if (NOT "${PRETRAINED_MODEL_HASH}" EQUAL "${EXISTING_FILE_HASH}") + if(NOT "${PRETRAINED_MODEL_HASH}" EQUAL "${EXISTING_FILE_HASH}") message(STATUS "... file hash changed. Downloading now ...") execute_process(COMMAND gdown --quiet "${PRETRAINED_MODEL_LINK}" -O ${PATH}/mb2-ssd-lite-tlr.onnx) endif() @@ -109,9 +100,9 @@ endif() set(FILE "${PATH}/voc_labels_tl.txt") message(STATUS "Checking and downloading voc_labels_tl.txt") -if (EXISTS "${FILE}") +if(EXISTS "${FILE}") file(MD5 "${FILE}" EXISTING_FILE_HASH) - if (NOT "${LAMP_LABEL_HASH}" EQUAL "${EXISTING_FILE_HASH}") + if(NOT "${LAMP_LABEL_HASH}" EQUAL "${EXISTING_FILE_HASH}") message(STATUS "... file does not exist. Downloading now ...") execute_process(COMMAND gdown --quiet "${LAMP_LABEL_LINK}" -O ${PATH}/voc_labels_tl.txt) endif() diff --git a/perception/traffic_light_ssd_fine_detector/package.xml b/perception/traffic_light_ssd_fine_detector/package.xml index 3c1288dc4b8cb..95ce29227b6ff 100644 --- a/perception/traffic_light_ssd_fine_detector/package.xml +++ b/perception/traffic_light_ssd_fine_detector/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_perception_msgs cv_bridge image_transport diff --git a/perception/traffic_light_visualization/CMakeLists.txt b/perception/traffic_light_visualization/CMakeLists.txt index 38674fabe20ba..2c6862095d88b 100644 --- a/perception/traffic_light_visualization/CMakeLists.txt +++ b/perception/traffic_light_visualization/CMakeLists.txt @@ -1,22 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(traffic_light_visualization) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(OpenCV REQUIRED) -########### -## Build ## -########### - ament_auto_add_library(traffic_light_roi_visualizer_nodelet SHARED src/traffic_light_roi_visualizer/nodelet.cpp ) @@ -30,20 +19,11 @@ rclcpp_components_register_node(traffic_light_roi_visualizer_nodelet EXECUTABLE traffic_light_visualization_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_add_executable(traffic_light_map_visualizer_node src/traffic_light_map_visualizer/node.cpp src/traffic_light_map_visualizer/main.cpp ) -############# -## Install ## -############# - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/perception/traffic_light_visualization/package.xml b/perception/traffic_light_visualization/package.xml index b6ad969012d8e..f16ddba519894 100644 --- a/perception/traffic_light_visualization/package.xml +++ b/perception/traffic_light_visualization/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_perception_msgs cv_bridge image_transport diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt index 40585a7effdca..8832c860df8ed 100644 --- a/planning/behavior_path_planner/CMakeLists.txt +++ b/planning/behavior_path_planner/CMakeLists.txt @@ -1,17 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(behavior_path_planner) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() find_package(OpenCV REQUIRED) ament_auto_add_library(behavior_path_planner_node SHARED @@ -56,11 +48,6 @@ rclcpp_components_register_node(behavior_path_planner_node EXECUTABLE behavior_path_planner ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE config diff --git a/planning/behavior_path_planner/package.xml b/planning/behavior_path_planner/package.xml index de3b7f13d1d67..466546e7b9db5 100644 --- a/planning/behavior_path_planner/package.xml +++ b/planning/behavior_path_planner/package.xml @@ -13,6 +13,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_perception_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs diff --git a/planning/behavior_velocity_planner/CMakeLists.txt b/planning/behavior_velocity_planner/CMakeLists.txt index f73f643ee6ef7..3bff8ff9451af 100644 --- a/planning/behavior_velocity_planner/CMakeLists.txt +++ b/planning/behavior_velocity_planner/CMakeLists.txt @@ -1,27 +1,16 @@ cmake_minimum_required(VERSION 3.5) project(behavior_velocity_planner) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() # Find the non-obvious packages manually -find_package(ament_cmake REQUIRED) find_package(Boost REQUIRED) find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) find_package(PCL REQUIRED COMPONENTS common) find_package(OpenCV REQUIRED) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - set(BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES tier4_api_msgs autoware_auto_perception_msgs @@ -400,9 +389,6 @@ rclcpp_components_register_node(behavior_velocity_planner if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - # utils for test ament_auto_add_library(utilization SHARED src/utilization/util.cpp @@ -447,7 +433,6 @@ if(BUILD_TESTING) USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER ) endif() - endif() ament_auto_package(INSTALL_TO_SHARE diff --git a/planning/behavior_velocity_planner/package.xml b/planning/behavior_velocity_planner/package.xml index 0a1d412d349c6..a1f86fdf19419 100644 --- a/planning/behavior_velocity_planner/package.xml +++ b/planning/behavior_velocity_planner/package.xml @@ -10,6 +10,8 @@ ament_cmake eigen3_cmake_module + autoware_cmake + autoware_auto_mapping_msgs autoware_auto_perception_msgs autoware_auto_planning_msgs diff --git a/planning/costmap_generator/CMakeLists.txt b/planning/costmap_generator/CMakeLists.txt index b1375b3b1f30d..27b6b971897dc 100644 --- a/planning/costmap_generator/CMakeLists.txt +++ b/planning/costmap_generator/CMakeLists.txt @@ -1,20 +1,11 @@ cmake_minimum_required(VERSION 3.5) - project(costmap_generator) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -find_package(ament_cmake_auto REQUIRED) find_package(PCL REQUIRED COMPONENTS common io) find_package(FLANN REQUIRED) -ament_auto_find_build_dependencies() include_directories( include @@ -70,8 +61,6 @@ rclcpp_components_register_node(costmap_generator_node if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() endif() ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/planning/costmap_generator/package.xml b/planning/costmap_generator/package.xml index e288bffe9c061..289e2be0197cb 100644 --- a/planning/costmap_generator/package.xml +++ b/planning/costmap_generator/package.xml @@ -10,9 +10,10 @@ BSD-3-Clause - ament_cmake ament_cmake_auto + autoware_cmake + autoware_auto_mapping_msgs autoware_auto_perception_msgs grid_map_ros diff --git a/planning/external_velocity_limit_selector/CMakeLists.txt b/planning/external_velocity_limit_selector/CMakeLists.txt index 58cf571a6fc1a..ec5b0293bf887 100644 --- a/planning/external_velocity_limit_selector/CMakeLists.txt +++ b/planning/external_velocity_limit_selector/CMakeLists.txt @@ -1,30 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(external_velocity_limit_selector) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -## Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -# Target - -## Target executable -set(EXTERNAL_VELOCITY_LIMIT_SELECTOR_SRC - src/external_velocity_limit_selector_node.cpp -) - -## external_velocity_limit_selector_node ament_auto_add_library(external_velocity_limit_selector_node SHARED - ${EXTERNAL_VELOCITY_LIMIT_SELECTOR_SRC} + src/external_velocity_limit_selector_node.cpp ) rclcpp_components_register_node(external_velocity_limit_selector_node @@ -32,11 +13,6 @@ rclcpp_components_register_node(external_velocity_limit_selector_node EXECUTABLE external_velocity_limit_selector ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/planning/external_velocity_limit_selector/package.xml b/planning/external_velocity_limit_selector/package.xml index 35b85287f5544..85f2274025ac9 100644 --- a/planning/external_velocity_limit_selector/package.xml +++ b/planning/external_velocity_limit_selector/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + rclcpp rclcpp_components tier4_planning_msgs diff --git a/planning/freespace_planner/CMakeLists.txt b/planning/freespace_planner/CMakeLists.txt index 42750739010e8..c81de25a7c4db 100644 --- a/planning/freespace_planner/CMakeLists.txt +++ b/planning/freespace_planner/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(freespace_planner) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(freespace_planner_node SHARED src/freespace_planner/freespace_planner_node.cpp @@ -29,11 +20,6 @@ rclcpp_components_register_node(freespace_planner_node EXECUTABLE freespace_planner ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/planning/freespace_planner/package.xml b/planning/freespace_planner/package.xml index 5883b4ebdb642..2d588c78e34c2 100644 --- a/planning/freespace_planner/package.xml +++ b/planning/freespace_planner/package.xml @@ -13,6 +13,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_planning_msgs freespace_planning_algorithms geometry_msgs diff --git a/planning/freespace_planning_algorithms/CMakeLists.txt b/planning/freespace_planning_algorithms/CMakeLists.txt index b3fcf283bf5b4..3b9544532e067 100644 --- a/planning/freespace_planning_algorithms/CMakeLists.txt +++ b/planning/freespace_planning_algorithms/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(freespace_planning_algorithms) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(reeds_shepp SHARED src/reeds_shepp.cpp @@ -34,9 +25,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) endif() if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - find_package(ament_cmake_gtest REQUIRED) ament_add_gtest(freespace_planning_algorithms-test test/src/test_freespace_planning_algorithms.cpp diff --git a/planning/freespace_planning_algorithms/package.xml b/planning/freespace_planning_algorithms/package.xml index 10c5dd7e29a33..72fc9d5a0dc45 100644 --- a/planning/freespace_planning_algorithms/package.xml +++ b/planning/freespace_planning_algorithms/package.xml @@ -12,6 +12,8 @@ ament_cmake_auto + autoware_cmake + geometry_msgs nav_msgs std_msgs diff --git a/planning/mission_planner/CMakeLists.txt b/planning/mission_planner/CMakeLists.txt index 3cda858f537ae..f435d48e3b874 100644 --- a/planning/mission_planner/CMakeLists.txt +++ b/planning/mission_planner/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(mission_planner) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(mission_planner_node SHARED lib/mission_planner_base.cpp @@ -41,11 +31,6 @@ rclcpp_components_register_node(goal_pose_visualizer_node EXECUTABLE goal_pose_visualizer ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/planning/mission_planner/package.xml b/planning/mission_planner/package.xml index abdc2b0d20acc..94f7b9c3d8661 100644 --- a/planning/mission_planner/package.xml +++ b/planning/mission_planner/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_planning_msgs geometry_msgs lanelet2_extension diff --git a/planning/motion_velocity_smoother/CMakeLists.txt b/planning/motion_velocity_smoother/CMakeLists.txt index 4dd75852c71d5..d855ea1a09a93 100644 --- a/planning/motion_velocity_smoother/CMakeLists.txt +++ b/planning/motion_velocity_smoother/CMakeLists.txt @@ -1,23 +1,13 @@ cmake_minimum_required(VERSION 3.5) project(motion_velocity_smoother) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Boost REQUIRED) find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) - set(MOTION_VELOCITY_SMOOTHER_SRC src/motion_velocity_smoother_node.cpp src/trajectory_utils.cpp @@ -58,11 +48,6 @@ rclcpp_components_register_node(motion_velocity_smoother_node EXECUTABLE motion_velocity_smoother ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/planning/motion_velocity_smoother/package.xml b/planning/motion_velocity_smoother/package.xml index 6c748e40b4858..fbef021da0fed 100644 --- a/planning/motion_velocity_smoother/package.xml +++ b/planning/motion_velocity_smoother/package.xml @@ -12,6 +12,8 @@ ament_cmake_auto eigen3_cmake_module + autoware_cmake + autoware_auto_planning_msgs geometry_msgs interpolation diff --git a/planning/obstacle_avoidance_planner/CMakeLists.txt b/planning/obstacle_avoidance_planner/CMakeLists.txt index 3e2858a4c08fb..a6bdd49b1d1ef 100644 --- a/planning/obstacle_avoidance_planner/CMakeLists.txt +++ b/planning/obstacle_avoidance_planner/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(obstacle_avoidance_planner) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Eigen3 REQUIRED) find_package(OpenCV REQUIRED) @@ -50,11 +41,6 @@ rclcpp_components_register_node(obstacle_avoidance_planner EXECUTABLE obstacle_avoidance_planner_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/planning/obstacle_avoidance_planner/package.xml b/planning/obstacle_avoidance_planner/package.xml index 18811ed96146f..57f485d108ecc 100644 --- a/planning/obstacle_avoidance_planner/package.xml +++ b/planning/obstacle_avoidance_planner/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_perception_msgs autoware_auto_planning_msgs geometry_msgs diff --git a/planning/obstacle_stop_planner/CMakeLists.txt b/planning/obstacle_stop_planner/CMakeLists.txt index 26b2bc308d4bf..6938f414f92d8 100644 --- a/planning/obstacle_stop_planner/CMakeLists.txt +++ b/planning/obstacle_stop_planner/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(obstacle_stop_planner) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Eigen3 REQUIRED) find_package(OpenCV REQUIRED) @@ -46,11 +37,6 @@ rclcpp_components_register_node(obstacle_stop_planner EXECUTABLE obstacle_stop_planner_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE config diff --git a/planning/obstacle_stop_planner/package.xml b/planning/obstacle_stop_planner/package.xml index f6af25fa25807..1a3ca90cef3d0 100644 --- a/planning/obstacle_stop_planner/package.xml +++ b/planning/obstacle_stop_planner/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_perception_msgs autoware_auto_planning_msgs diagnostic_msgs diff --git a/planning/planning_error_monitor/CMakeLists.txt b/planning/planning_error_monitor/CMakeLists.txt index e1bcc4dae15c6..31081701780f5 100644 --- a/planning/planning_error_monitor/CMakeLists.txt +++ b/planning/planning_error_monitor/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(planning_error_monitor) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(planning_error_monitor_node SHARED src/planning_error_monitor_node.cpp @@ -39,8 +30,6 @@ rclcpp_components_register_node(invalid_trajectory_publisher_node ) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() ament_add_gtest(test_planning_error_monitor test/src/test_main.cpp test/src/test_planning_error_monitor_functions.cpp diff --git a/planning/planning_error_monitor/package.xml b/planning/planning_error_monitor/package.xml index e0353b9e8abe9..b70e2f319cd01 100644 --- a/planning/planning_error_monitor/package.xml +++ b/planning/planning_error_monitor/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_planning_msgs diagnostic_updater geometry_msgs diff --git a/planning/planning_evaluator/CMakeLists.txt b/planning/planning_evaluator/CMakeLists.txt index 400a2bbfc726e..8e6b975d13644 100644 --- a/planning/planning_evaluator/CMakeLists.txt +++ b/planning/planning_evaluator/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(planning_evaluator) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(${PROJECT_NAME}_node SHARED src/metrics_calculator.cpp @@ -42,8 +33,6 @@ rclcpp_components_register_node(${PROJECT_NAME}_node ) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() ament_add_gtest(test_${PROJECT_NAME} test/test_planning_evaluator_node.cpp ) diff --git a/planning/planning_evaluator/package.xml b/planning/planning_evaluator/package.xml index 536561981a0b0..f7e1d5c3480dd 100644 --- a/planning/planning_evaluator/package.xml +++ b/planning/planning_evaluator/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_perception_msgs autoware_auto_planning_msgs diagnostic_msgs diff --git a/planning/route_handler/CMakeLists.txt b/planning/route_handler/CMakeLists.txt index 9337c272d85d1..fbbc22d0d946c 100644 --- a/planning/route_handler/CMakeLists.txt +++ b/planning/route_handler/CMakeLists.txt @@ -1,16 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(route_handler) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(route_handler SHARED src/route_handler.cpp @@ -23,10 +15,4 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -# Test -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package() diff --git a/planning/route_handler/package.xml b/planning/route_handler/package.xml index 9c720d38dff4b..d85cb5fee79b1 100644 --- a/planning/route_handler/package.xml +++ b/planning/route_handler/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + ament_lint_auto autoware_lint_common diff --git a/planning/scenario_selector/CMakeLists.txt b/planning/scenario_selector/CMakeLists.txt index 443cbf7faf4e4..3bce9ef0504da 100644 --- a/planning/scenario_selector/CMakeLists.txt +++ b/planning/scenario_selector/CMakeLists.txt @@ -1,30 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(scenario_selector) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -## Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -# Target - -## Target executable -set(SCENARIO_SELECTOR_SRC - src/scenario_selector_node/scenario_selector_node.cpp -) +find_package(autoware_cmake REQUIRED) +autoware_package() -## scenario_selector_node ament_auto_add_library(scenario_selector_node SHARED - ${SCENARIO_SELECTOR_SRC} + src/scenario_selector_node/scenario_selector_node.cpp ) # workaround to allow deprecated header to build on both galactic and rolling @@ -39,11 +20,6 @@ rclcpp_components_register_node(scenario_selector_node EXECUTABLE scenario_selector ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/planning/scenario_selector/package.xml b/planning/scenario_selector/package.xml index c2c5a395458d0..c0cefa6eef1be 100644 --- a/planning/scenario_selector/package.xml +++ b/planning/scenario_selector/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_mapping_msgs autoware_auto_planning_msgs lanelet2_extension diff --git a/planning/surround_obstacle_checker/CMakeLists.txt b/planning/surround_obstacle_checker/CMakeLists.txt index 4f223c4db4a36..8216fd5c0a4a6 100644 --- a/planning/surround_obstacle_checker/CMakeLists.txt +++ b/planning/surround_obstacle_checker/CMakeLists.txt @@ -1,22 +1,12 @@ cmake_minimum_required(VERSION 3.5) project(surround_obstacle_checker) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -find_package(ament_cmake REQUIRED) find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) find_package(PCL REQUIRED COMPONENTS common) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() ament_auto_add_library(${PROJECT_NAME} SHARED src/debug_marker.cpp @@ -39,11 +29,6 @@ rclcpp_components_register_node(${PROJECT_NAME} EXECUTABLE ${PROJECT_NAME}_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE config diff --git a/planning/surround_obstacle_checker/package.xml b/planning/surround_obstacle_checker/package.xml index 3619684216af2..5dfed9ddb19a7 100644 --- a/planning/surround_obstacle_checker/package.xml +++ b/planning/surround_obstacle_checker/package.xml @@ -10,6 +10,8 @@ ament_cmake eigen3_cmake_module + autoware_cmake + autoware_auto_perception_msgs autoware_auto_planning_msgs diagnostic_msgs diff --git a/sensing/geo_pos_conv/CMakeLists.txt b/sensing/geo_pos_conv/CMakeLists.txt index 501218f7f3e7a..38d9e83e1fe3d 100644 --- a/sensing/geo_pos_conv/CMakeLists.txt +++ b/sensing/geo_pos_conv/CMakeLists.txt @@ -1,28 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(geo_pos_conv) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -### Add dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -### Create library ament_auto_add_library(geo_pos_conv SHARED src/geo_pos_conv.cpp ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package() diff --git a/sensing/geo_pos_conv/package.xml b/sensing/geo_pos_conv/package.xml index 26e7278b79545..bee92e4c63dea 100644 --- a/sensing/geo_pos_conv/package.xml +++ b/sensing/geo_pos_conv/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + rclcpp ament_lint_auto diff --git a/sensing/gnss_poser/CMakeLists.txt b/sensing/gnss_poser/CMakeLists.txt index 6f94465632dda..20ee8a3423b40 100644 --- a/sensing/gnss_poser/CMakeLists.txt +++ b/sensing/gnss_poser/CMakeLists.txt @@ -1,15 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(gnss_poser) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ## Find non-ROS library find_package(PkgConfig) @@ -22,9 +15,6 @@ find_library(GeographicLib_LIBRARIES NAMES Geographic ) -find_package(ament_cmake_auto) -ament_auto_find_build_dependencies() - set(GNSS_POSER_HEADERS include/gnss_poser/convert.hpp include/gnss_poser/gnss_poser_core.hpp @@ -52,11 +42,6 @@ rclcpp_components_register_node(gnss_poser_node EXECUTABLE gnss_poser ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/sensing/gnss_poser/package.xml b/sensing/gnss_poser/package.xml index 779b149a63a62..e5fbaf575d28e 100644 --- a/sensing/gnss_poser/package.xml +++ b/sensing/gnss_poser/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + geo_pos_conv geographiclib geometry_msgs diff --git a/sensing/image_transport_decompressor/CMakeLists.txt b/sensing/image_transport_decompressor/CMakeLists.txt index d6ce92e911f32..3d5b155aca479 100644 --- a/sensing/image_transport_decompressor/CMakeLists.txt +++ b/sensing/image_transport_decompressor/CMakeLists.txt @@ -1,22 +1,10 @@ cmake_minimum_required(VERSION 3.5) project(image_transport_decompressor) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - - -find_package(ament_cmake_auto) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(OpenCV REQUIRED) - include_directories( ${OpenCV_INCLUDE_DIRS} ) @@ -34,11 +22,6 @@ rclcpp_components_register_node(image_transport_decompressor EXECUTABLE image_transport_decompressor_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/sensing/image_transport_decompressor/package.xml b/sensing/image_transport_decompressor/package.xml index c38295bb53dbb..631e72d1c4294 100644 --- a/sensing/image_transport_decompressor/package.xml +++ b/sensing/image_transport_decompressor/package.xml @@ -18,6 +18,8 @@ ament_cmake_auto + autoware_cmake + cv_bridge rclcpp rclcpp_components diff --git a/sensing/imu_corrector/CMakeLists.txt b/sensing/imu_corrector/CMakeLists.txt index 903a6bcab07c5..707497cb692f7 100644 --- a/sensing/imu_corrector/CMakeLists.txt +++ b/sensing/imu_corrector/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(imu_corrector) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(imu_corrector_node SHARED src/imu_corrector_core.cpp @@ -24,11 +14,6 @@ rclcpp_components_register_node(imu_corrector_node EXECUTABLE imu_corrector ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/sensing/imu_corrector/package.xml b/sensing/imu_corrector/package.xml index 71fece2622338..55da6110de396 100644 --- a/sensing/imu_corrector/package.xml +++ b/sensing/imu_corrector/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + rclcpp rclcpp_components sensor_msgs diff --git a/sensing/livox/livox_tag_filter/CMakeLists.txt b/sensing/livox/livox_tag_filter/CMakeLists.txt index bb0cf8166e3b3..a2af024b96861 100644 --- a/sensing/livox/livox_tag_filter/CMakeLists.txt +++ b/sensing/livox/livox_tag_filter/CMakeLists.txt @@ -1,24 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(livox_tag_filter) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(PCL REQUIRED) -include_directories(${PCL_INCLUDE_DIRS}) -# Target -## livox_tag_filter_node ament_auto_add_library(livox_tag_filter SHARED src/livox_tag_filter_node/livox_tag_filter_node.cpp ) @@ -32,13 +19,6 @@ rclcpp_components_register_node(livox_tag_filter EXECUTABLE livox_tag_filter_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -# Install -## executables and libraries ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/sensing/livox/livox_tag_filter/package.xml b/sensing/livox/livox_tag_filter/package.xml index e1ccee7c014e1..50f80e4c5b47d 100644 --- a/sensing/livox/livox_tag_filter/package.xml +++ b/sensing/livox/livox_tag_filter/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + libpcl-all-dev pcl_conversions rclcpp diff --git a/sensing/pointcloud_preprocessor/CMakeLists.txt b/sensing/pointcloud_preprocessor/CMakeLists.txt index 2d2dc632fcf79..0c59f3094997a 100644 --- a/sensing/pointcloud_preprocessor/CMakeLists.txt +++ b/sensing/pointcloud_preprocessor/CMakeLists.txt @@ -1,34 +1,14 @@ cmake_minimum_required(VERSION 3.5) project(pointcloud_preprocessor) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -# Ignore PCL errors in Clang -if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wno-gnu-anonymous-struct -Wno-nested-anon-types) -endif() - -find_package(ament_cmake_auto REQUIRED) find_package(OpenCV REQUIRED) find_package(Eigen3 REQUIRED) find_package(Boost REQUIRED) find_package(PCL REQUIRED) -find_package(pcl_conversions REQUIRED) find_package(OpenMP) -ament_auto_find_build_dependencies() - - -########### -## Build ## -########### include_directories( include @@ -162,15 +142,6 @@ rclcpp_components_register_node(pointcloud_preprocessor_filter PLUGIN "pointcloud_preprocessor::BlockageDiagComponent" EXECUTABLE blockage_diag_node) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -############# -## Install ## -############# - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/sensing/pointcloud_preprocessor/package.xml b/sensing/pointcloud_preprocessor/package.xml index b6390fab335a8..0bb220ba3c015 100644 --- a/sensing/pointcloud_preprocessor/package.xml +++ b/sensing/pointcloud_preprocessor/package.xml @@ -15,6 +15,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_vehicle_msgs autoware_point_types cv_bridge diff --git a/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt b/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt index 7c3ce78a04dd8..7641039014076 100644 --- a/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt +++ b/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt @@ -1,20 +1,12 @@ cmake_minimum_required(VERSION 3.5) project(probabilistic_occupancy_grid_map) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -find_package(ament_cmake_auto REQUIRED) find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) find_package(PCL REQUIRED) -ament_auto_find_build_dependencies() # PointcloudBasedOccupancyGridMap ament_auto_add_library(pointcloud_based_occupancy_grid_map SHARED @@ -55,16 +47,6 @@ rclcpp_components_register_node(laserscan_based_occupancy_grid_map EXECUTABLE laserscan_based_occupancy_grid_map_node ) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - list(APPEND AMENT_LINT_AUTO_EXCLUDE - # To avoid conflicts between cpplint and uncrustify w.r.t. inclusion guards - ament_cmake_uncrustify - ) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/sensing/probabilistic_occupancy_grid_map/package.xml b/sensing/probabilistic_occupancy_grid_map/package.xml index b10a9a12d57af..127380427bb2f 100644 --- a/sensing/probabilistic_occupancy_grid_map/package.xml +++ b/sensing/probabilistic_occupancy_grid_map/package.xml @@ -11,6 +11,8 @@ ament_cmake_auto + autoware_cmake + eigen3_cmake_module laser_geometry message_filters diff --git a/sensing/tier4_pcl_extensions/CMakeLists.txt b/sensing/tier4_pcl_extensions/CMakeLists.txt index 8eacc49d56d9c..ec2b127d33dcb 100644 --- a/sensing/tier4_pcl_extensions/CMakeLists.txt +++ b/sensing/tier4_pcl_extensions/CMakeLists.txt @@ -1,19 +1,10 @@ cmake_minimum_required(VERSION 3.5) project(tier4_pcl_extensions) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -find_package(ament_cmake_auto REQUIRED) find_package(PCL REQUIRED COMPONENTS common) - find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) @@ -27,9 +18,4 @@ ament_auto_add_library(tier4_pcl_extensions SHARED target_link_libraries(tier4_pcl_extensions ${PCL_LIBRARIES}) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package() diff --git a/sensing/tier4_pcl_extensions/package.xml b/sensing/tier4_pcl_extensions/package.xml index 099f3c833c55b..8bcb5031e7c73 100644 --- a/sensing/tier4_pcl_extensions/package.xml +++ b/sensing/tier4_pcl_extensions/package.xml @@ -12,7 +12,9 @@ eigen3_cmake_module + autoware_cmake eigen + eigen libpcl-all-dev diff --git a/simulator/dummy_perception_publisher/CMakeLists.txt b/simulator/dummy_perception_publisher/CMakeLists.txt index 7a52146afc97f..2d6e99c960afc 100644 --- a/simulator/dummy_perception_publisher/CMakeLists.txt +++ b/simulator/dummy_perception_publisher/CMakeLists.txt @@ -1,24 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(dummy_perception_publisher) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# Dependencies for messages -find_package(ament_cmake_auto REQUIRED) -find_package(rosidl_default_generators REQUIRED) -find_package(autoware_auto_perception_msgs REQUIRED) -find_package(tier4_perception_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(std_msgs REQUIRED) -find_package(unique_identifier_msgs REQUIRED) +find_package(autoware_cmake REQUIRED) +autoware_package() rosidl_generate_interfaces(${PROJECT_NAME} "msg/InitialState.msg" @@ -28,8 +12,6 @@ rosidl_generate_interfaces(${PROJECT_NAME} # See ndt_omp package for documentation on why PCL is special find_package(PCL REQUIRED COMPONENTS common filters) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() set(${PROJECT_NAME}_DEPENDENCIES autoware_auto_perception_msgs @@ -99,11 +81,6 @@ ament_auto_add_executable(empty_objects_publisher ) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - - find_package(ament_cmake_gtest REQUIRED) - ament_add_gtest(signed_distance_function-test test/src/test_signed_distance_function.cpp ) diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/dummy_perception_publisher/package.xml index febaf4f45b1d0..e7ce4dc99c433 100644 --- a/simulator/dummy_perception_publisher/package.xml +++ b/simulator/dummy_perception_publisher/package.xml @@ -9,6 +9,7 @@ ament_cmake_auto + autoware_cmake rosidl_default_generators rosidl_default_runtime diff --git a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp b/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp index 27105829510bf..6c964625a3e69 100644 --- a/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp +++ b/simulator/dummy_perception_publisher/src/pointcloud_creator.cpp @@ -30,7 +30,7 @@ pcl::PointXYZ getPointWrtBaseLink( { const auto p_wrt_base = tf_base_link2moved_object(tf2::Vector3(x, y, z)); return pcl::PointXYZ(p_wrt_base.x(), p_wrt_base.y(), p_wrt_base.z()); -}; +} void ObjectCentricPointCloudCreator::create_object_pointcloud( const ObjectInfo & obj_info, const tf2::Transform & tf_base_link2map, diff --git a/simulator/fault_injection/CMakeLists.txt b/simulator/fault_injection/CMakeLists.txt index d021ab90760b0..7b4b2ef56e550 100644 --- a/simulator/fault_injection/CMakeLists.txt +++ b/simulator/fault_injection/CMakeLists.txt @@ -1,22 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(fault_injection) -## Compile options -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) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -## Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -## Targets ament_auto_add_library(fault_injection_node_component SHARED src/fault_injection_node/fault_injection_node.cpp ) @@ -33,12 +20,7 @@ rclcpp_components_register_node(fault_injection_node_component EXECUTABLE fault_injection_node ) -## Tests if(BUILD_TESTING) - # Linter - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - # gtest ament_add_gtest(test_fault_injection_node_component test/src/main.cpp @@ -50,7 +32,6 @@ if(BUILD_TESTING) ) # launch_testing - find_package(launch_testing_ament_cmake REQUIRED) add_launch_test( test/test_fault_injection_node.test.py TARGET test_fault_injection_launch_test @@ -69,7 +50,6 @@ if(BUILD_TESTING) ) endif() -## Package ament_auto_package( INSTALL_TO_SHARE config diff --git a/simulator/fault_injection/package.xml b/simulator/fault_injection/package.xml index 72394431d1b0a..961a0af1e5854 100644 --- a/simulator/fault_injection/package.xml +++ b/simulator/fault_injection/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + diagnostic_aggregator diagnostic_msgs diagnostic_updater diff --git a/simulator/simple_planning_simulator/CMakeLists.txt b/simulator/simple_planning_simulator/CMakeLists.txt index 8ca1510484b35..899f8f45896f1 100644 --- a/simulator/simple_planning_simulator/CMakeLists.txt +++ b/simulator/simple_planning_simulator/CMakeLists.txt @@ -1,11 +1,8 @@ cmake_minimum_required(VERSION 3.6) - project(simple_planning_simulator) -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - +find_package(autoware_cmake REQUIRED) +autoware_package() # Component ament_auto_add_library(${PROJECT_NAME} SHARED @@ -21,7 +18,6 @@ ament_auto_add_library(${PROJECT_NAME} SHARED src/simple_planning_simulator/vehicle_model/sim_model_delay_steer_acc_geared.cpp ) target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC ${tf2_INCLUDE_DIRS}) -autoware_set_compile_options(${PROJECT_NAME}) target_compile_options(${PROJECT_NAME} PRIVATE -Wno-old-style-cast) # RCLCPP_ERROR_THROTTLE() has built-in old-style casts. @@ -38,12 +34,7 @@ rclcpp_components_register_node(${PROJECT_NAME} EXECUTABLE ${PROJECT_NAME}_exe ) - -### Test if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - ament_add_gtest(test_simple_planning_simulator test/test_simple_planning_simulator.cpp TIMEOUT 120 @@ -61,7 +52,4 @@ if(BUILD_TESTING) endif() endif() - - - ament_auto_package(INSTALL_TO_SHARE param launch) diff --git a/simulator/simple_planning_simulator/package.xml b/simulator/simple_planning_simulator/package.xml index 2a432563a9a4d..761aef0e322f2 100644 --- a/simulator/simple_planning_simulator/package.xml +++ b/simulator/simple_planning_simulator/package.xml @@ -8,7 +8,8 @@ Apache License 2.0 ament_cmake_auto - autoware_auto_cmake + + autoware_cmake autoware_auto_common autoware_auto_control_msgs diff --git a/system/ad_service_state_monitor/CMakeLists.txt b/system/ad_service_state_monitor/CMakeLists.txt index c68afa92fdf26..9a4cf952c4f39 100644 --- a/system/ad_service_state_monitor/CMakeLists.txt +++ b/system/ad_service_state_monitor/CMakeLists.txt @@ -1,34 +1,16 @@ cmake_minimum_required(VERSION 3.5) project(ad_service_state_monitor) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() -# Target -## Set source files -set(AD_SERVICE_STATE_MONITOR_SRC +ament_auto_add_executable(ad_service_state_monitor + src/ad_service_state_monitor_node/main.cpp src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp src/ad_service_state_monitor_node/state_machine.cpp src/ad_service_state_monitor_node/diagnostics.cpp ) -## Add executables -ament_auto_add_executable(ad_service_state_monitor - src/ad_service_state_monitor_node/main.cpp - ${AD_SERVICE_STATE_MONITOR_SRC} -) - # workaround to allow deprecated header to build on both galactic and rolling if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) target_compile_definitions(ad_service_state_monitor PRIVATE @@ -36,11 +18,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/system/ad_service_state_monitor/package.xml b/system/ad_service_state_monitor/package.xml index 21f04d46eab5b..56d48546f35c8 100644 --- a/system/ad_service_state_monitor/package.xml +++ b/system/ad_service_state_monitor/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_control_msgs autoware_auto_planning_msgs autoware_auto_system_msgs diff --git a/system/default_ad_api/CMakeLists.txt b/system/default_ad_api/CMakeLists.txt index d449f2ffa978c..fd256e1102568 100644 --- a/system/default_ad_api/CMakeLists.txt +++ b/system/default_ad_api/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.8) project(default_ad_api) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(${PROJECT_NAME} SHARED src/interface_version.cpp @@ -28,9 +18,6 @@ endif() rclcpp_components_register_nodes(${PROJECT_NAME} "default_ad_api::InterfaceVersionNode") if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - find_package(launch_testing_ament_cmake) add_launch_test(test/main.test.py) endif() diff --git a/system/default_ad_api/package.xml b/system/default_ad_api/package.xml index 3f0fd55896a98..0bb71303d5466 100644 --- a/system/default_ad_api/package.xml +++ b/system/default_ad_api/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_ad_api_msgs component_interface_utils rclcpp diff --git a/system/dummy_diag_publisher/CMakeLists.txt b/system/dummy_diag_publisher/CMakeLists.txt index c2071d53de3cc..aa61b7a937ea8 100644 --- a/system/dummy_diag_publisher/CMakeLists.txt +++ b/system/dummy_diag_publisher/CMakeLists.txt @@ -1,19 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(dummy_diag_publisher) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(dummy_diag_publisher SHARED src/dummy_diag_publisher_node/dummy_diag_publisher_node.cpp @@ -24,11 +13,6 @@ rclcpp_components_register_node(dummy_diag_publisher EXECUTABLE dummy_diag_publisher_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/system/dummy_diag_publisher/package.xml b/system/dummy_diag_publisher/package.xml index 9f9646feb8f9f..e466727a583d9 100644 --- a/system/dummy_diag_publisher/package.xml +++ b/system/dummy_diag_publisher/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + diagnostic_updater rclcpp rclcpp_components diff --git a/system/dummy_infrastructure/CMakeLists.txt b/system/dummy_infrastructure/CMakeLists.txt index c18bf3ab46cdd..f73fcbc338edd 100644 --- a/system/dummy_infrastructure/CMakeLists.txt +++ b/system/dummy_infrastructure/CMakeLists.txt @@ -1,22 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(dummy_infrastructure) -## Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -## Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -## Targets ament_auto_add_library(dummy_infrastructure_node_component SHARED src/dummy_infrastructure_node/dummy_infrastructure_node.cpp ) @@ -26,13 +13,6 @@ rclcpp_components_register_node(dummy_infrastructure_node_component EXECUTABLE dummy_infrastructure_node ) -## Tests -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -## Package ament_auto_package( INSTALL_TO_SHARE config diff --git a/system/dummy_infrastructure/package.xml b/system/dummy_infrastructure/package.xml index 07cac07a802af..bc1fad3a8e339 100644 --- a/system/dummy_infrastructure/package.xml +++ b/system/dummy_infrastructure/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + rclcpp rclcpp_components tier4_v2x_msgs diff --git a/system/emergency_handler/CMakeLists.txt b/system/emergency_handler/CMakeLists.txt index a1daea31bf6ee..3e4eef0914e55 100644 --- a/system/emergency_handler/CMakeLists.txt +++ b/system/emergency_handler/CMakeLists.txt @@ -1,38 +1,14 @@ cmake_minimum_required(VERSION 3.5) project(emergency_handler) -### Compile options -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) -endif() - -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -### Target executable -set(EMERGENCY_HANDLER_SRC - src/emergency_handler/emergency_handler_core.cpp) - -set(EMERGENCY_HANDLER_HEADERS - include/emergency_handler/emergency_handler_core.hpp) +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_executable(emergency_handler src/emergency_handler/emergency_handler_node.cpp - ${EMERGENCY_HANDLER_SRC} - ${EMERGENCY_HANDLER_HEADERS} + src/emergency_handler/emergency_handler_core.cpp ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/system/emergency_handler/package.xml b/system/emergency_handler/package.xml index 70bef05ebb225..588421d013808 100644 --- a/system/emergency_handler/package.xml +++ b/system/emergency_handler/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_control_msgs autoware_auto_system_msgs autoware_auto_vehicle_msgs diff --git a/system/system_error_monitor/CMakeLists.txt b/system/system_error_monitor/CMakeLists.txt index fe824b040382f..ca55617e817b7 100644 --- a/system/system_error_monitor/CMakeLists.txt +++ b/system/system_error_monitor/CMakeLists.txt @@ -1,38 +1,14 @@ cmake_minimum_required(VERSION 3.5) project(system_error_monitor) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -# Target -## system_error_monitor_node -set(SYSTEM_ERROR_MONITOR_SRC - src/system_error_monitor_core.cpp -) +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_executable(${PROJECT_NAME} src/system_error_monitor_node.cpp - ${SYSTEM_ERROR_MONITOR_SRC} + src/system_error_monitor_core.cpp ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -# Install -## executables and libraries ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/system/system_error_monitor/package.xml b/system/system_error_monitor/package.xml index efc96edf09a23..d98b62051d216 100644 --- a/system/system_error_monitor/package.xml +++ b/system/system_error_monitor/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_system_msgs autoware_auto_vehicle_msgs diagnostic_msgs diff --git a/system/system_monitor/CMakeLists.txt b/system/system_monitor/CMakeLists.txt index 1e12fb2b257a2..a41616db7cf6c 100644 --- a/system/system_monitor/CMakeLists.txt +++ b/system/system_monitor/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(system_monitor) -## Compile as C++14, supported in ROS Melodic and newer -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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 -Wno-stringop-truncation) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() # TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/851) add_compile_options(-Wno-stringop-truncation) @@ -22,10 +12,6 @@ find_package(NVML) find_package(fmt REQUIRED) set(LIBRARIES fmt) -########### -## Build ## -########### - ## Specify additional locations of header files find_path(LIBNL3_INCLUDE_DIRS @@ -194,9 +180,6 @@ rclcpp_components_register_node(gpu_monitor_lib # TODO(yunus.caliskan): Port the tests to ROS2, robustify the tests. if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - # ament_add_gtest(test_cpu_monitor # test/src/cpu_monitor/test_${CMAKE_CPU_PLATFORM}_cpu_monitor.cpp # ${CPU_MONITOR_SOURCE} @@ -313,10 +296,6 @@ if(BUILD_TESTING) endif() -############# -## Install ## -############# - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/system/system_monitor/package.xml b/system/system_monitor/package.xml index 628446c3f2951..8cca9d2c71545 100644 --- a/system/system_monitor/package.xml +++ b/system/system_monitor/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + diagnostic_msgs diagnostic_updater fmt diff --git a/system/topic_state_monitor/CMakeLists.txt b/system/topic_state_monitor/CMakeLists.txt index cefc2f00e9d07..7af5f418ed5a6 100644 --- a/system/topic_state_monitor/CMakeLists.txt +++ b/system/topic_state_monitor/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(topic_state_monitor) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(topic_state_monitor SHARED src/topic_state_monitor/topic_state_monitor.cpp @@ -23,13 +14,6 @@ rclcpp_components_register_node(topic_state_monitor EXECUTABLE topic_state_monitor_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -# Install -## directories ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/system/topic_state_monitor/package.xml b/system/topic_state_monitor/package.xml index 8af15c32e28cc..13c182cc715ee 100644 --- a/system/topic_state_monitor/package.xml +++ b/system/topic_state_monitor/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + ament_index_cpp diagnostic_updater rclcpp diff --git a/system/velodyne_monitor/CMakeLists.txt b/system/velodyne_monitor/CMakeLists.txt index a8a037e83e044..bd9cd28bc0bc3 100644 --- a/system/velodyne_monitor/CMakeLists.txt +++ b/system/velodyne_monitor/CMakeLists.txt @@ -1,19 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(velodyne_monitor) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ### Target executable ament_auto_add_executable(velodyne_monitor @@ -24,11 +13,6 @@ ament_auto_add_executable(velodyne_monitor ## Specify libraries to link a library or executable target against target_link_libraries(velodyne_monitor cpprest crypto fmt) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/system/velodyne_monitor/package.xml b/system/velodyne_monitor/package.xml index b08eb8d00e279..9c6683511c2ce 100644 --- a/system/velodyne_monitor/package.xml +++ b/system/velodyne_monitor/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + crypto++ diagnostic_msgs diagnostic_updater diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/CMakeLists.txt b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/CMakeLists.txt index 1bf8123c82a31..8cbfc626a077a 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/CMakeLists.txt +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(accel_brake_map_calibrator) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_executable(accel_brake_map_calibrator src/accel_brake_map_calibrator_node.cpp @@ -26,11 +17,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - install( PROGRAMS scripts/__init__.py diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/package.xml b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/package.xml index 66e66f968ad34..472d492c52908 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/package.xml +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_vehicle_msgs diagnostic_updater geometry_msgs diff --git a/vehicle/external_cmd_converter/CMakeLists.txt b/vehicle/external_cmd_converter/CMakeLists.txt index b51f68db9c1de..b823588de265a 100644 --- a/vehicle/external_cmd_converter/CMakeLists.txt +++ b/vehicle/external_cmd_converter/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(external_cmd_converter) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(external_cmd_converter SHARED src/node.cpp @@ -23,11 +13,6 @@ rclcpp_components_register_node(external_cmd_converter EXECUTABLE external_cmd_converter_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/vehicle/external_cmd_converter/package.xml b/vehicle/external_cmd_converter/package.xml index f5f6f2f7578ee..0e8962f5b7bf8 100644 --- a/vehicle/external_cmd_converter/package.xml +++ b/vehicle/external_cmd_converter/package.xml @@ -11,6 +11,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_control_msgs autoware_auto_vehicle_msgs diagnostic_updater diff --git a/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt b/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt index 1c9f4a097f8a6..bb4ab068fcfeb 100644 --- a/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt +++ b/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt @@ -1,19 +1,8 @@ cmake_minimum_required(VERSION 3.5) - project(raw_vehicle_cmd_converter) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(actuation_map_converter SHARED src/accel_map.cpp @@ -35,10 +24,6 @@ rclcpp_components_register_node(raw_vehicle_cmd_converter_node_component ) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - - # Unit tests set(TEST_SOURCES test/test_raw_vehicle_cmd_converter.cpp ) diff --git a/vehicle/raw_vehicle_cmd_converter/package.xml b/vehicle/raw_vehicle_cmd_converter/package.xml index 022a3e1e88cbd..b14b00c9d3963 100644 --- a/vehicle/raw_vehicle_cmd_converter/package.xml +++ b/vehicle/raw_vehicle_cmd_converter/package.xml @@ -12,6 +12,8 @@ ament_cmake_auto + autoware_cmake + autoware_auto_control_msgs autoware_auto_vehicle_msgs geometry_msgs diff --git a/vehicle/vehicle_info_util/CMakeLists.txt b/vehicle/vehicle_info_util/CMakeLists.txt index 4b7f3b80160e4..192a74060f0fa 100644 --- a/vehicle/vehicle_info_util/CMakeLists.txt +++ b/vehicle/vehicle_info_util/CMakeLists.txt @@ -1,29 +1,13 @@ cmake_minimum_required(VERSION 3.5) project(vehicle_info_util) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - 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) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(vehicle_info_util SHARED src/vehicle_info_util.cpp ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE config diff --git a/vehicle/vehicle_info_util/package.xml b/vehicle/vehicle_info_util/package.xml index f421bd3f21581..09a349be63e14 100644 --- a/vehicle/vehicle_info_util/package.xml +++ b/vehicle/vehicle_info_util/package.xml @@ -9,6 +9,8 @@ ament_cmake_auto + autoware_cmake + rclcpp ament_lint_auto