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CMakeLists.txt
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CMakeLists.txt
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# MIT License
#
# Copyright (c) 2022 Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Cyrill
# Stachniss.
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.
cmake_minimum_required(VERSION 3.16...3.26)
project(kiss_icp VERSION 1.0.0 LANGUAGES CXX)
set(CMAKE_BUILD_TYPE Release)
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/../cpp/kiss_icp/ AND NOT IS_SYMLINK ${CMAKE_CURRENT_SOURCE_DIR})
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../cpp/kiss_icp ${CMAKE_CURRENT_BINARY_DIR}/kiss_icp)
else()
cmake_minimum_required(VERSION 3.18)
message(STATUS "Performing out-of-tree build, fetching KISS-ICP v${CMAKE_PROJECT_VERSION} Release from Github")
include(FetchContent)
FetchContent_Declare(
ext_kiss_icp_core PREFIX kiss_icp_core
URL https://github.com/PRBonn/kiss-icp/archive/refs/tags/v${CMAKE_PROJECT_VERSION}.tar.gz SOURCE_SUBDIR
cpp/kiss_icp)
FetchContent_MakeAvailable(ext_kiss_icp_core)
endif()
find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rcutils REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
# ROS 2 node
add_library(odometry_component SHARED src/OdometryServer.cpp)
target_compile_features(odometry_component PUBLIC cxx_std_20)
target_include_directories(odometry_component PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}/include)
target_link_libraries(odometry_component kiss_icp_pipeline)
ament_target_dependencies(
odometry_component
geometry_msgs
nav_msgs
rclcpp
rclcpp_components
rcutils
sensor_msgs
std_msgs
tf2_ros)
rclcpp_components_register_node(odometry_component PLUGIN "kiss_icp_ros::OdometryServer" EXECUTABLE kiss_icp_node)
install(TARGETS odometry_component LIBRARY DESTINATION lib RUNTIME DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY launch rviz DESTINATION share/${PROJECT_NAME}/)
ament_package()