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CMakeLists.txt
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cmake_minimum_required(VERSION 3.11)
project(gsl_server)
set(CMAKE_CXX_FLAGS "-g -glldb -Wpedantic ${CMAKE_CXX_FLAGS}")
set(CMAKE_CXX_STANDARD 20)
set(CMAKE_VERBOSE_MAKEFILE ON) #Outputs the compiler command to the build log file
#########################
#OPTIONS
#########################
# enabling debug mode disables optimizations and activates a bunch of assertions in the code.
set(GSL_DEBUG OFF)
# extra logging to tell you what is being executed
set(GSL_TRACING ON)
# if ON, the code is compiled with support for directly querying gaden simulations to obtain the wind ground truth.
# If you dont have gaden in this workspace, you need to set this to OFF or it wont compile
set(USE_GADEN OFF)
# if ON uses the nav_assistant package rather than directly communicating with nav_2.
# It adds some extra features, but currently it has a relatively high performance cost due to async inter-process communication
set(USE_NAV_ASSISTANT OFF)
# Compile graphical interface with DearImGUI. Currently only affects the PMFS and SemanticPMFS algorithms. Not required to function, it is mostly for debugging purposes
set(USE_GUI ON)
# Tracy is a profiler. ON enables some instrumentation macros (and adds a dependency to tracy). To do sampling-based profiling you also need to run the node as sudo
set(USE_TRACY OFF)
# disable to do sampling-only profiling
set(USE_TRACY_INSTRUMENTATION OFF)
set(DISABLE_NAVIGATION ON) # Disables navigation decisions and lets you control the robot directly. For testing, mostly
##############################################################################
include(CMake/SanitizationOptions.cmake)
include(CMake/HandleConditionals.cmake)
include(CMake/CommonDependencies.cmake)
#########################
## INCLUDES
#########################
include_directories(
src
third_party/xxHash/include
third_party/DDA/include
third_party/DDA/third_party/glm
third_party/StateMachine/include
)
##########################
# EXECUTABLES
##########################
#### Server node
##############
add_executable(gsl_actionserver_node src/gsl_server/gsl_server.cpp)
ament_target_dependencies( gsl_actionserver_node
rclcpp
rclcpp_action
gsl_actions
)
##### Call node
add_executable(gsl_actionserver_call src/aux_nodes/gsl_server_call.cpp)
ament_target_dependencies( gsl_actionserver_call
rclcpp
rclcpp_action
gsl_actions
)
#### Send pose node
add_executable(send_pose src/aux_nodes/send_pose.cpp)
ament_target_dependencies( send_pose
rclcpp
geometry_msgs
)
##########################
# ALGORITHMS
##########################
include(src/gsl_server/algorithms/Common/CMakeLists.txt) # Required
# You can disable the compilation of any of these algorithms by commenting them out here (useful if you don't want to install their dependencies)
###############################################################################################################################################
include(src/gsl_server/algorithms/PlumeTracking/CMakeLists.txt)
include(src/gsl_server/algorithms/Spiral/CMakeLists.txt)
include(src/gsl_server/algorithms/ParticleFilter/CMakeLists.txt)
include(src/gsl_server/algorithms/GrGSL/CMakeLists.txt)
include(src/gsl_server/algorithms/PMFS/CMakeLists.txt)
include(src/gsl_server/algorithms/Semantics/CMakeLists.txt) # There is further modularity inside of this file!
##########################
# INSTALLATION
##########################
install(
TARGETS gsl_actionserver_node gsl_actionserver_call send_pose
DESTINATION lib/${PROJECT_NAME}
)
install(
DIRECTORY resources
DESTINATION share/${PROJECT_NAME}
)
ament_package()