feat(perception): use autoware_cmake to avoid Boost warning (#533)

tier4 · May 26, 2023 · bebc2f0 · bebc2f0
1 parent 12efad6
commit bebc2f0
Show file tree

Hide file tree

Showing 8 changed files with 12 additions and 95 deletions.
diff --git 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)
-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
@@ -7,9 +7,8 @@
   <maintainer email="[email protected]">Taichi Higashide</maintainer>
   <license>Apache License 2.0</license>
 
-  <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
-
+  <build_depend>autoware_cmake</build_depend>
   <depend>autoware_auto_mapping_msgs</depend>
   <depend>grid_map_cv</depend>
   <depend>grid_map_pcl</depend>

diff --git 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
@@ -75,15 +56,6 @@ 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
@@ -16,6 +16,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <build_depend>autoware_cmake</build_depend>
 
   <depend>libopencv-dev</depend>
   <depend>pcl_conversions</depend>

diff --git 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()
+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)
@@ -25,11 +12,6 @@ find_package(pcl_conversions REQUIRED)
 find_package(OpenMP)
 ament_auto_find_build_dependencies()
 
-
-###########
-## Build ##
-###########
-
 include_directories(
   include
   SYSTEM
@@ -63,14 +45,4 @@ 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
@@ -16,6 +16,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <build_depend>autoware_cmake</build_depend>
 
   <depend>autoware_auto_vehicle_msgs</depend>
   <depend>diagnostic_updater</depend>

diff --git 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)
@@ -73,11 +64,6 @@ 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
@@ -9,6 +9,7 @@
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>autoware_cmake</build_depend>
 
   <depend>autoware_auto_perception_msgs</depend>
   <depend>builtin_interfaces</depend>