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CMakeLists.txt
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####################################################
# CMakeLists.txt for project sick_scan
####################################################
cmake_minimum_required(VERSION 3.5)
project(sick_scan_xd)
# Emulator build options
option(ENABLE_EMULATOR "Build emulator for offline and unittests (ON) or without emulator (OFF)" OFF)
if(CMAKE_ENABLE_EMULATOR EQUAL 1)
set(ENABLE_EMULATOR ON CACHE BOOL "Build emulator for offline and unittests (ON) or without emulator (OFF)" FORCE) # OFF (release) or ON (development)
message(STATUS "Option CMAKE_ENABLE_EMULATOR = ${CMAKE_ENABLE_EMULATOR}, building ${PROJECT_NAME} with emulator support, ENABLE_EMULATOR=${ENABLE_EMULATOR}")
else()
set(ENABLE_EMULATOR OFF CACHE BOOL "Build emulator for offline and unittests (ON) or without emulator (OFF)" FORCE) # OFF (release) or ON (development)
message(STATUS "Option CMAKE_ENABLE_EMULATOR = ${CMAKE_ENABLE_EMULATOR}, building ${PROJECT_NAME} without emulator support, ENABLE_EMULATOR=${ENABLE_EMULATOR}")
endif()
# LDMRS build options
option(BUILD_WITH_LDMRS_SUPPORT "Build ${PROJECT_NAME} with LDMRS support (ON, libsick_ldmrs from https://github.com/SICKAG/libsick_ldmrs required) or without LDMRS support (OFF)" OFF)
if(WIN32)
set(BUILD_WITH_LDMRS_SUPPORT OFF CACHE BOOL "Build ${PROJECT_NAME} with LDMRS support (ON, libsick_ldmrs from https://github.com/SICKAG/libsick_ldmrs required) or without LDMRS support (OFF)" FORCE)
elseif(LDMRS EQUAL 0)
set(BUILD_WITH_LDMRS_SUPPORT OFF CACHE BOOL "Build ${PROJECT_NAME} with LDMRS support (ON, libsick_ldmrs from https://github.com/SICKAG/libsick_ldmrs required) or without LDMRS support (OFF)" FORCE)
else()
set(BUILD_WITH_LDMRS_SUPPORT ON CACHE BOOL "Build ${PROJECT_NAME} with LDMRS support (ON, libsick_ldmrs from https://github.com/SICKAG/libsick_ldmrs required) or without LDMRS support (OFF)" FORCE)
endif()
# SCANSEGMENT_XD/MULTISCAN136 build options
option(BUILD_WITH_SCANSEGMENT_XD_SUPPORT "Build ${PROJECT_NAME} with SCANSEGMENT_XD support (ON) or without SCANSEGMENT_XD support (OFF)" ON)
if(SCANSEGMENT_XD EQUAL 0)
set(BUILD_WITH_SCANSEGMENT_XD_SUPPORT OFF CACHE BOOL "Build ${PROJECT_NAME} with SCANSEGMENT_XD support (ON) or without SCANSEGMENT_XD support (OFF)" FORCE)
else()
set(BUILD_WITH_SCANSEGMENT_XD_SUPPORT ON CACHE BOOL "Build ${PROJECT_NAME} with SCANSEGMENT_XD support (ON) or without SCANSEGMENT_XD support (OFF)" FORCE)
endif()
# Linker option visibilty
option(BUILD_LIB_HIDE_FUNCTIONS "Build ${PROJECT_NAME} library with function hiding except for SickScanApi-functions (ON) or without function hiding (OFF)" ON)
if(VISIBILITY EQUAL 0)
set(BUILD_LIB_HIDE_FUNCTIONS ON CACHE BOOL "Build ${PROJECT_NAME} library with function hiding except for SickScanApi-functions (ON) or without function hiding (OFF)" FORCE)
else()
set(BUILD_LIB_HIDE_FUNCTIONS OFF CACHE BOOL "Build ${PROJECT_NAME} library with function hiding except for SickScanApi-functions (ON) or without function hiding (OFF)" FORCE)
endif()
# Debug or Release build options
option(BUILD_DEBUG_TARGET "Build debug target (ON) or release (OFF)" ON) # OFF (release) or ON (development)
# set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
# set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wpedantic")
# if(NOT WIN32) # Note: compiler option -Wshadow generates lots of warnings in ros header files. Therefore it's deactivated by default, but can be usefull for development and testing.
# add_compile_options(-Wall -Wshadow -Wno-reorder -Wno-sign-compare -Wno-unused-local-typedefs -Wno-unused-parameter -Wno-unused-function -Wno-unused-result -Wno-unused-variable -Wno-unused-but-set-variable)
# endif()
if(NOT WIN32)
add_compile_options(-O3)
endif()
# Added CMP0022 and CMP0048 to avoid cmake warnings
if (POLICY CMP0022)
cmake_policy(SET CMP0022 NEW)
endif ()
if (POLICY CMP0048)
cmake_policy(SET CMP0048 NEW)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(${BUILD_DEBUG_TARGET} OR BUILD_DEBUG_TARGET EQUAL ON)
set(CMAKE_BUILD_TYPE Debug) #uncomment to activate debug mode for lib_sick as well
set(CMAKE_ENABLE_EXPORTS 1) #uncomment to activate debug mode for lib_sick as well
endif()
# Build sick_scan_xd library hiding all functions except for SickScanApi-functions, see https://gcc.gnu.org/wiki/Visibility for details
if(BUILD_LIB_HIDE_FUNCTIONS AND NOT WIN32)
add_compile_options(-fvisibility=hidden)
add_link_options(-fvisibility=hidden)
endif()
# Switch on, if you use c11-specific commands
if(NOT WIN32)
set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-format-overflow -fno-var-tracking-assignments")
endif()
# Option SICK_TARGET_ENDIANESS sets the endianess of the cmake target to build sick_scan_xd (default is little endian).
# The target endianess can be set either to little endian by cmake option "-DSICK_TARGET_ENDIANESS=1",
# or to big endian by cmake option "-DSICK_TARGET_ENDIANESS=2"
# Since LITTLE_ENDIAN and BIG_ENDIAN might already be defined differently on a system or in a 3rd party headerfile,
# SICK_TARGET_ENDIANESS, SICK_LITTLE_ENDIAN and SICK_BIG_ENDIAN are used to avoid conflicts
if(DEFINED ENV{SICK_TARGET_ENDIANESS})
add_compile_options(-DSICK_TARGET_ENDIANESS=$ENV{SICK_TARGET_ENDIANESS})
elseif(DEFINED SICK_TARGET_ENDIANESS)
add_compile_options(-DSICK_TARGET_ENDIANESS=${SICK_TARGET_ENDIANESS})
endif()
# ROS Version
message(STATUS "ROS_VERSION precheck: ENV{ROS_VERSION}=$ENV{ROS_VERSION} ROS_VERSION=${ROS_VERSION} CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}")
if(DEFINED CMAKE_PREFIX_PATH AND "${CMAKE_PREFIX_PATH}" STREQUAL "/opt/ros/humble")
set(ROS_VERSION 2)
endif()
if(NOT DEFINED ROS_VERSION AND DEFINED ENV{ROS_VERSION})
set(ROS_VERSION $ENV{ROS_VERSION})
endif()
message(STATUS "ROS_VERSION=${ROS_VERSION}")
add_compile_options(-D__ROS_VERSION=${ROS_VERSION})
if(ROS_VERSION EQUAL 0)
add_compile_options(-DROSSIMU)
endif()
if(WIN32 AND EXISTS "c:/vcpkg/installed/x64-windows")
include_directories(c:/vcpkg/installed/x64-windows/include)
link_directories(c:/vcpkg/installed/x64-windows/lib)
endif()
if(WIN32)
add_compile_options(-D_WINSOCK_DEPRECATED_NO_WARNINGS -D_CRT_SECURE_NO_WARNINGS -D_WIN32_WINNT=0x0A00)
link_libraries(ws2_32)
endif()
if(RASPBERRY EQUAL 1)
add_compile_options(-DRASPBERRY=1)
message(STATUS "Building sick_scan_xd for target RASPBERRY")
else()
add_compile_options(-DRASPBERRY=0)
endif()
# Checks and prints a message, if a header file does not exist
function(check_header_exists headerfilepath headerfilename packagename)
if(NOT EXISTS ${headerfilepath})
message(STATUS "${packagename} check: file ${headerfilepath} not found.")
message(STATUS "If you encounter problems with missing ${headerfilename}, please checkout the following repositories:")
message(STATUS "git clone https://github.com/SICKAG/libsick_ldmrs.git")
message(STATUS "git clone https://github.com/SICKAG/msgpack11.git")
message(STATUS "git clone https://github.com/SICKAG/sick_scan_xd.git")
message(STATUS "and rebuild. See the build instructions in INSTALL-GENERIC.md, INSTALL-ROS1.md and INSTALL-ROS2.md for further details.")
endif()
endfunction()
# By uncommenting the following lines you can list all variable names ...
# --- CUT ---
# get_cmake_property(_variableNames VARIABLES)
# list (SORT _variableNames)
# foreach (_variableName ${_variableNames})
# message(STATUS "${_variableName}=${${_variableName}}")
# endforeach()
# --- CUT ---
# jsoncpp required for emulator and lidar3d
if(${ENABLE_EMULATOR} OR ENABLE_EMULATOR EQUAL ON)
# emulator requires jsoncpp for pcapng and other files
find_package(jsoncpp REQUIRED) # install libjsoncpp by running "sudo apt-get install libjsoncpp-dev" (Linux) resp. "vcpkg install jsoncpp:x64-windows" (Windows)
if(WIN32)
set(LIB_JSONCPP jsoncpp_lib)
else()
set(LIB_JSONCPP jsoncpp_lib)
endif()
endif()
if(ROS_VERSION EQUAL 1)
find_package(catkin REQUIRED COMPONENTS
diagnostic_updater
dynamic_reconfigure
geometry_msgs
message_generation
nav_msgs
roscpp
roslib # needed ros::package::getPath()
sensor_msgs
std_msgs
tf
tf2
visualization_msgs
)
find_package(PkgConfig REQUIRED)
generate_dynamic_reconfigure_options(
cfg/SickLDMRSDriver.cfg
cfg/SickScan.cfg
cfg/tf_dyn.cfg
)
# driver messages
add_message_files(
DIRECTORY msg
FILES
Encoder.msg
LFErecFieldMsg.msg
LFErecMsg.msg
LIDoutputstateMsg.msg
RadarObject.msg
RadarPreHeader.msg
RadarPreHeaderDeviceBlock.msg
RadarPreHeaderEncoderBlock.msg
RadarPreHeaderMeasurementParam1Block.msg
RadarPreHeaderStatusBlock.msg
RadarScan.msg
SickImu.msg
NAVLandmarkData.msg
NAVOdomVelocity.msg
NAVPoseData.msg
NAVReflectorData.msg
)
add_message_files(
DIRECTORY msg/ldmrs
FILES
SickLdmrsObject.msg
SickLdmrsObjectArray.msg
)
# driver services
add_service_files(
DIRECTORY srv
FILES
ColaMsgSrv.srv
ECRChangeArrSrv.srv
GetContaminationResultSrv.srv
LIDoutputstateSrv.srv
SCdevicestateSrv.srv
SCrebootSrv.srv
SCsoftresetSrv.srv
SickScanExitSrv.srv
)
set(diagnostic_updater_pkg diagnostic_updater)
add_compile_options(-DROS_DIAGNOSTICS_UPDATER_AVAILABLE)
endif()
if(ROS_VERSION EQUAL 2)
#uncomment this lines and change path accordingly
set(FastRTPS_INCLUDE_DIR /opt/ros/$ENV{ROS_DISTRO}/include)
set(FastRTPS_LIBRARY_RELEASE /opt/ros/$ENV{ROS_DISTRO}/lib/libfastrtps.so)
find_package(ament_cmake REQUIRED)
if(NOT WIN32)
# still check if diagnostics updater is available (depends on ros distribution)
find_package(diagnostic_updater)
if (${diagnostic_updater_FOUND})
set(diagnostic_updater_pkg diagnostic_updater)
add_compile_options(-DROS_DIAGNOSTICS_UPDATER_AVAILABLE)
endif()
endif()
find_package(diagnostic_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(visualization_msgs REQUIRED)
if(${ENABLE_EMULATOR} OR ENABLE_EMULATOR EQUAL ON)
set(ROSIDL_EMULATOR_FILES
# emulator messages
"test/emulator/msg/SickLocColaTelegramMsg.msg"
"test/emulator/msg/SickLocDiagnosticMsg.msg"
"test/emulator/msg/SickLocResultPortCrcMsg.msg"
"test/emulator/msg/SickLocResultPortHeaderMsg.msg"
"test/emulator/msg/SickLocResultPortPayloadMsg.msg"
"test/emulator/msg/SickLocResultPortTelegramMsg.msg"
"test/emulator/msg/SickLocResultPortTestcaseMsg.msg"
# emulator services
"test/emulator/srv/SickLocColaTelegramSrv.srv"
"test/emulator/srv/SickLocRequestTimestampSrv.srv"
"test/emulator/srv/SickLocSetResultModeSrv.srv"
"test/emulator/srv/SickLocSetResultPoseIntervalSrv.srv"
"test/emulator/srv/SickLocIsSystemReadySrv.srv"
"test/emulator/srv/SickLocSetPoseSrv.srv"
"test/emulator/srv/SickLocSetResultPortSrv.srv"
"test/emulator/srv/SickLocStartLocalizingSrv.srv"
"test/emulator/srv/SickLocStopSrv.srv"
"test/emulator/srv/SickLocRequestResultDataSrv.srv"
"test/emulator/srv/SickLocSetResultEndiannessSrv.srv"
"test/emulator/srv/SickLocSetResultPoseEnabledSrv.srv"
"test/emulator/srv/SickLocStateSrv.srv"
"test/emulator/srv/SickLocTimeSyncSrv.srv"
"test/emulator/srv/SickDevGetLidarConfigSrv.srv"
"test/emulator/srv/SickDevGetLidarIdentSrv.srv"
"test/emulator/srv/SickDevGetLidarStateSrv.srv"
"test/emulator/srv/SickDevSetLidarConfigSrv.srv"
"test/emulator/srv/SickGetSoftwareVersionSrv.srv"
"test/emulator/srv/SickLocAutoStartActiveSrv.srv"
"test/emulator/srv/SickLocAutoStartSavePoseIntervalSrv.srv"
"test/emulator/srv/SickLocAutoStartSavePoseSrv.srv"
"test/emulator/srv/SickLocForceUpdateSrv.srv"
"test/emulator/srv/SickLocInitializePoseSrv.srv"
"test/emulator/srv/SickLocInitialPoseSrv.srv"
"test/emulator/srv/SickLocMapSrv.srv"
"test/emulator/srv/SickLocMapStateSrv.srv"
"test/emulator/srv/SickLocOdometryActiveSrv.srv"
"test/emulator/srv/SickLocOdometryPortSrv.srv"
"test/emulator/srv/SickLocOdometryRestrictYMotionSrv.srv"
"test/emulator/srv/SickLocReflectorsForSupportActiveSrv.srv"
"test/emulator/srv/SickLocResultEndiannessSrv.srv"
"test/emulator/srv/SickLocResultModeSrv.srv"
"test/emulator/srv/SickLocResultPortSrv.srv"
"test/emulator/srv/SickLocResultPoseIntervalSrv.srv"
"test/emulator/srv/SickLocResultStateSrv.srv"
"test/emulator/srv/SickLocRingBufferRecordingActiveSrv.srv"
"test/emulator/srv/SickLocSaveRingBufferRecordingSrv.srv"
"test/emulator/srv/SickLocSetAutoStartActiveSrv.srv"
"test/emulator/srv/SickLocSetAutoStartSavePoseIntervalSrv.srv"
"test/emulator/srv/SickLocSetMapSrv.srv"
"test/emulator/srv/SickLocSetOdometryActiveSrv.srv"
"test/emulator/srv/SickLocSetOdometryPortSrv.srv"
"test/emulator/srv/SickLocSetOdometryRestrictYMotionSrv.srv"
"test/emulator/srv/SickLocSetReflectorsForSupportActiveSrv.srv"
"test/emulator/srv/SickLocSetRingBufferRecordingActiveSrv.srv"
"test/emulator/srv/SickLocStartDemoMappingSrv.srv"
"test/emulator/srv/SickReportUserMessageSrv.srv"
"test/emulator/srv/SickSavePermanentSrv.srv"
"test/emulator/srv/SickDevSetIMUActiveSrv.srv"
"test/emulator/srv/SickDevIMUActiveSrv.srv"
)
endif()
rosidl_generate_interfaces(${PROJECT_NAME}
# message files
"msg/Encoder.msg"
"msg/ImuExtended.msg"
"msg/LFErecFieldMsg.msg"
"msg/LFErecMsg.msg"
"msg/LIDoutputstateMsg.msg"
"msg/NAVLandmarkData.msg"
"msg/NAVOdomVelocity.msg"
"msg/NAVPoseData.msg"
"msg/NAVReflectorData.msg"
"msg/ros2/RadarObject.msg"
"msg/RadarPreHeader.msg"
"msg/RadarPreHeaderDeviceBlock.msg"
"msg/RadarPreHeaderEncoderBlock.msg"
"msg/RadarPreHeaderMeasurementParam1Block.msg"
"msg/RadarPreHeaderStatusBlock.msg"
"msg/RadarScan.msg"
"msg/SickImu.msg"
"msg/ros2/ldmrs/SickLdmrsObject.msg"
"msg/ros2/ldmrs/SickLdmrsObjectArray.msg"
# service files
"srv/ColaMsgSrv.srv"
"srv/ECRChangeArrSrv.srv"
"srv/GetContaminationResultSrv.srv"
"srv/LIDoutputstateSrv.srv"
"srv/SCdevicestateSrv.srv"
"srv/SCrebootSrv.srv"
"srv/SCsoftresetSrv.srv"
"srv/SickScanExitSrv.srv"
${ROSIDL_EMULATOR_FILES}
DEPENDENCIES builtin_interfaces geometry_msgs nav_msgs sensor_msgs std_msgs
)
endif()
# Support for LDMRS
if(RASPBERRY EQUAL 1)
message(STATUS "Building ${PROJECT_NAME} for raspberry without ldmrs support")
elseif(${BUILD_WITH_LDMRS_SUPPORT} OR BUILD_WITH_LDMRS_SUPPORT EQUAL ON)
message(STATUS "Building ${PROJECT_NAME} with LDMRS support")
find_package(SickLDMRS QUIET)
if (${SickLDMRS_FOUND})
add_compile_options(-DLDMRS_SUPPORT=1)
set(LDMRS_INCLUDES ${SICK_LDMRS_INCLUDE_DIRS})
set(LDMRS_SOURCES driver/src/ldmrs/sick_ldmrs_config.cpp driver/src/ldmrs/sick_ldmrs_driver.cpp driver/src/ldmrs/sick_ldmrs_node.cpp)
set(LDMRS_TARGET_DEPENDENCIES SickLDMRS)
message(STATUS "LDMRS_INCLUDES: ${LDMRS_INCLUDES}")
message(STATUS "LDMRS_SOURCES: ${LDMRS_SOURCES}")
message(STATUS "LDMRS_TARGET_DEPENDENCIES: ${LDMRS_TARGET_DEPENDENCIES}")
message(STATUS "SICK_LDMRS_LIBRARIES: ${SICK_LDMRS_LIBRARIES}")
check_header_exists(${LDMRS_INCLUDES}/sick_ldmrs/manager.hpp sick_ldmrs/manager.hpp sick_ldmrs)
else()
message(STATUS "package SickLDMR not found, ldmrs support disabled")
add_compile_options(-DLDMRS_SUPPORT=0)
endif()
else()
message(STATUS "Building ${PROJECT_NAME} without ldmrs support")
endif()
# Support for SCANSEGMENT_XD/MULTISCAN136
if(${BUILD_WITH_SCANSEGMENT_XD_SUPPORT} OR BUILD_WITH_SCANSEGMENT_XD_SUPPORT EQUAL ON)
message(STATUS "Building ${PROJECT_NAME} with SCANSEGMENT_XD support")
add_compile_options(-DSCANSEGMENT_XD_SUPPORT=1)
# msgpack11 sources and header required for SCANSEGMENT_XD support
include_directories(include/sick_scansegment_xd/msgpack11)
file(GLOB SCANSEGMENT_XD_SOURCES driver/src/sick_scansegment_xd/*.cpp driver/src/sick_scansegment_xd/msgpack11/*.cpp)
else()
message(STATUS "Building ${PROJECT_NAME} without SCANSEGMENT_XD support")
endif()
if((${ENABLE_EMULATOR} OR ENABLE_EMULATOR EQUAL ON) AND ROS_VERSION EQUAL 1)
# emulator messages
add_message_files(
DIRECTORY test/emulator/msg
FILES
SickLocColaTelegramMsg.msg
SickLocDiagnosticMsg.msg
SickLocResultPortCrcMsg.msg
SickLocResultPortHeaderMsg.msg
SickLocResultPortPayloadMsg.msg
SickLocResultPortTelegramMsg.msg
SickLocResultPortTestcaseMsg.msg
)
# emulator services
add_service_files(
DIRECTORY test/emulator/srv
FILES
SickDevGetLidarConfigSrv.srv
SickDevGetLidarIdentSrv.srv
SickDevGetLidarStateSrv.srv
SickDevIMUActiveSrv.srv
SickDevSetIMUActiveSrv.srv
SickDevSetLidarConfigSrv.srv
SickGetSoftwareVersionSrv.srv
SickLocAutoStartActiveSrv.srv
SickLocAutoStartSavePoseIntervalSrv.srv
SickLocAutoStartSavePoseSrv.srv
SickLocColaTelegramSrv.srv
SickLocForceUpdateSrv.srv
SickLocInitialPoseSrv.srv
SickLocInitializePoseSrv.srv
SickLocIsSystemReadySrv.srv
SickLocMapSrv.srv
SickLocMapStateSrv.srv
SickLocOdometryActiveSrv.srv
SickLocOdometryPortSrv.srv
SickLocOdometryRestrictYMotionSrv.srv
SickLocReflectorsForSupportActiveSrv.srv
SickLocRequestResultDataSrv.srv
SickLocRequestTimestampSrv.srv
SickLocResultEndiannessSrv.srv
SickLocResultModeSrv.srv
SickLocResultPortSrv.srv
SickLocResultPoseIntervalSrv.srv
SickLocResultStateSrv.srv
SickLocRingBufferRecordingActiveSrv.srv
SickLocSaveRingBufferRecordingSrv.srv
SickLocSetAutoStartActiveSrv.srv
SickLocSetAutoStartSavePoseIntervalSrv.srv
SickLocSetMapSrv.srv
SickLocSetOdometryActiveSrv.srv
SickLocSetOdometryPortSrv.srv
SickLocSetOdometryRestrictYMotionSrv.srv
SickLocSetPoseSrv.srv
SickLocSetReflectorsForSupportActiveSrv.srv
SickLocSetResultEndiannessSrv.srv
SickLocSetResultModeSrv.srv
SickLocSetResultPortSrv.srv
SickLocSetResultPoseEnabledSrv.srv
SickLocSetResultPoseIntervalSrv.srv
SickLocSetRingBufferRecordingActiveSrv.srv
SickLocStartDemoMappingSrv.srv
SickLocStartLocalizingSrv.srv
SickLocStateSrv.srv
SickLocStopSrv.srv
SickLocTimeSyncSrv.srv
SickReportUserMessageSrv.srv
SickSavePermanentSrv.srv
)
endif()
if(ROS_VERSION EQUAL 1)
generate_messages(
DEPENDENCIES
geometry_msgs
nav_msgs
sensor_msgs
std_msgs
)
catkin_package(
CATKIN_DEPENDS
diagnostic_msgs
${diagnostic_updater_pkg}
dynamic_reconfigure
geometry_msgs
message_runtime
nav_msgs
# pcl_conversions
# pcl_ros
roscpp
sensor_msgs
std_msgs
tf
tf2
# tf tf2
visualization_msgs
LIBRARIES ${PROJECT_NAME}_lib ${PROJECT_NAME}_shared_lib
INCLUDE_DIRS include
)
endif()
include_directories(include include/sick_scan_xd_api include/tinyxml ${catkin_INCLUDE_DIRS} ${LDMRS_INCLUDES} include/sick_scan tools/test_server/include roswrap/src/include/launchparser)
if(ROS_VERSION EQUAL 0)
include_directories(roswrap/src/msg_header)
endif()
if(ROS_VERSION EQUAL 1)
if(WIN32)
include_directories(roswrap/helper_win)
file(GLOB SRC_WIN_FILES roswrap/helper_win/usleep/usleep.c)
endif()
set(SICK_SCAN_LIB_SRC
driver/src/abstract_parser.cpp
driver/src/binPrintf.cpp
driver/src/binScanf.cpp
driver/src/dataDumper.cpp
driver/src/helper/angle_compensator.cpp
driver/src/sick_cloud_transform.cpp
driver/src/sick_generic_callback.cpp
driver/src/sick_generic_field_mon.cpp
driver/src/sick_generic_imu.cpp
driver/src/sick_generic_laser.cpp
driver/src/sick_generic_monitoring.cpp
driver/src/sick_generic_parser.cpp
driver/src/sick_generic_radar.cpp
driver/src/sick_lmd_scandata_parser.cpp
driver/src/sick_scan_common.cpp
driver/src/sick_scan_common_nw.cpp
driver/src/sick_scan_common_tcp.cpp
driver/src/sick_scan_config_internal.cpp
driver/src/sick_scan_marker.cpp
driver/src/sick_scan_messages.cpp
driver/src/sick_scan_parse_util.cpp
driver/src/sick_scan_services.cpp
driver/src/sick_scan_xd_api/api_impl.cpp
driver/src/sick_scan_xd_api/sick_scan_api_converter.cpp
driver/src/sick_nav_scandata_parser.cpp
driver/src/softwarePLL.cpp
driver/src/tcp/Mutex.cpp
driver/src/tcp/SickThread.cpp
driver/src/tcp/Time.cpp
driver/src/tcp/colaa.cpp
driver/src/tcp/colab.cpp
driver/src/tcp/errorhandler.cpp
driver/src/tcp/tcp.cpp
driver/src/tcp/toolbox.cpp
driver/src/tcp/wsa_init.cpp
driver/src/tinyxml/tinystr.cpp
driver/src/tinyxml/tinyxml.cpp
driver/src/tinyxml/tinyxmlerror.cpp
driver/src/tinyxml/tinyxmlparser.cpp
roswrap/src/launchparser/launchparser.cpp
${LDMRS_SOURCES}
${SCANSEGMENT_XD_SOURCES}
${SRC_WIN_FILES}
)
add_library(${PROJECT_NAME}_lib STATIC ${SICK_SCAN_LIB_SRC})
# target_compile_options(sick_scan_lib PUBLIC "-fPIC")
add_library(${PROJECT_NAME}_shared_lib SHARED ${SICK_SCAN_LIB_SRC})
add_dependencies(${PROJECT_NAME}_lib
${PROJECT_NAME}_gencfg
${catkin_EXPORTED_TARGETS}
${${PROJECT_NAME}_EXPORTED_TARGETS})
add_dependencies(${PROJECT_NAME}_shared_lib
${PROJECT_NAME}_gencfg
${catkin_EXPORTED_TARGETS}
${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(${PROJECT_NAME}_lib ${catkin_LIBRARIES})
target_link_libraries(${PROJECT_NAME}_shared_lib ${catkin_LIBRARIES})
add_executable(sick_generic_caller driver/src/sick_generic_caller.cpp)
target_link_libraries(sick_generic_caller ${PROJECT_NAME}_lib ${SICK_LDMRS_LIBRARIES})
#
# radar_object_marker (receives radar msg. and publishes marker array for rviz or similar
#
# add_executable(radar_object_marker
# tools/radar_object_marker/src/radar_object_marker.cpp
# tools/pcl_converter/src/gnuplotPaletteReader.cpp
# include/radar_object_marker/radar_object_marker.h)
# target_link_libraries(radar_object_marker ${PROJECT_NAME}_lib ${catkin_LIBRARIES} ${Boost_LIBRARIES})
#
# pcl_converter disabled to avoid dependency to pcl
#
# add_executable(pcl_converter tools/pcl_converter/src/pcl_converter.cpp tools/pcl_converter/src/gnuplotPaletteReader.cpp)
# target_link_libraries(pcl_converter ${catkin_LIBRARIES})
# add_executable(${PROJECT_NAME}_test test/src/${PROJECT_NAME}_test.cpp)
# target_link_libraries(${PROJECT_NAME}_test ${catkin_LIBRARIES} ${roslib_LIBRARIES} ${PROJECT_NAME}_lib ${Boost_LIBRARIES})
else() # i.e. (ROS_VERSION EQUAL 0 OR ROS_VERSION EQUAL 2)
include_directories(roswrap/src/include)
if(WIN32)
include_directories(roswrap/helper_win)
file(GLOB SRC_WIN_FILES roswrap/helper_win/usleep/usleep.c)
endif()
if(ROS_VERSION EQUAL 0)
include_directories(roswrap/src/include roswrap/src/rossimu/melodic/include roswrap/src/rossimu/kinetic/include roswrap/src/cfgsimu roswrap/src/toojpeg roswrap/src/tools)
file(GLOB SRC_ROSSIMU_FILES
roswrap/src/cfgsimu/sick_scan/time_modi.cpp
roswrap/src/rossimu/kinetic/src/rossimu.cpp
roswrap/src/rossimu/kinetic/src/duration.cpp
roswrap/src/rossimu/kinetic/src/rate.cpp
roswrap/src/tools/sick_scan/pointcloud_utils.cpp
)
endif()
set(SICK_SCAN_LIB_SRC
driver/src/abstract_parser.cpp
driver/src/binPrintf.cpp
driver/src/binScanf.cpp
driver/src/dataDumper.cpp
driver/src/helper/angle_compensator.cpp
driver/src/sick_cloud_transform.cpp
driver/src/sick_generic_callback.cpp
driver/src/sick_generic_field_mon.cpp
driver/src/sick_generic_imu.cpp
driver/src/sick_nav_scandata_parser.cpp
driver/src/sick_generic_laser.cpp
driver/src/sick_generic_monitoring.cpp
driver/src/sick_generic_parser.cpp
driver/src/sick_generic_radar.cpp
driver/src/sick_lmd_scandata_parser.cpp
driver/src/sick_scan_common.cpp
driver/src/sick_scan_common_nw.cpp
driver/src/sick_scan_common_tcp.cpp
driver/src/sick_scan_marker.cpp
driver/src/sick_scan_messages.cpp
driver/src/sick_scan_parse_util.cpp
driver/src/sick_scan_services.cpp
driver/src/sick_scan_xd_api/api_impl.cpp
driver/src/sick_scan_xd_api/sick_scan_api_converter.cpp
driver/src/softwarePLL.cpp
driver/src/tcp/Mutex.cpp
driver/src/tcp/SickThread.cpp
driver/src/tcp/Time.cpp
driver/src/tcp/colaa.cpp
driver/src/tcp/colab.cpp
driver/src/tcp/errorhandler.cpp
driver/src/tcp/tcp.cpp
driver/src/tcp/toolbox.cpp
driver/src/tcp/wsa_init.cpp
driver/src/tinyxml/tinystr.cpp
driver/src/tinyxml/tinyxml.cpp
driver/src/tinyxml/tinyxmlerror.cpp
driver/src/tinyxml/tinyxmlparser.cpp
roswrap/src/getopt/getopt.c
roswrap/src/launchparser/launchparser.cpp
roswrap/src/toojpeg/toojpeg.cpp
${LDMRS_SOURCES}
${SCANSEGMENT_XD_SOURCES}
${SRC_ROSSIMU_FILES}
${SRC_WIN_FILES}
)
add_library(${PROJECT_NAME}_lib STATIC ${SICK_SCAN_LIB_SRC})
# target_compile_options(sick_scan_lib PUBLIC "-fPIC")
add_library(${PROJECT_NAME}_shared_lib SHARED ${SICK_SCAN_LIB_SRC})
if(ROS_VERSION EQUAL 0)
# target_compile_options(${PROJECT_NAME}_shared_lib PUBLIC "-fPIC")
# target_link_options(${PROJECT_NAME}_shared_lib PUBLIC "-fPIC")
target_link_libraries(${PROJECT_NAME}_shared_lib ${SICK_LDMRS_LIBRARIES})
endif()
add_executable(sick_generic_caller driver/src/sick_generic_caller.cpp)
target_link_libraries(sick_generic_caller ${PROJECT_NAME}_lib ${SICK_LDMRS_LIBRARIES})
endif()
if(ROS_VERSION EQUAL 2)
ament_target_dependencies(
${PROJECT_NAME}_lib
"rclcpp"
"sensor_msgs"
"std_msgs"
"geometry_msgs"
"diagnostic_msgs"
"nav_msgs"
"visualization_msgs"
"tf2_ros"
"${diagnostic_updater_pkg}"
${LDMRS_TARGET_DEPENDENCIES}
)
ament_target_dependencies(
${PROJECT_NAME}_shared_lib
"rclcpp"
"sensor_msgs"
"std_msgs"
"geometry_msgs"
"diagnostic_msgs"
"nav_msgs"
"visualization_msgs"
"tf2_ros"
"${diagnostic_updater_pkg}"
${LDMRS_TARGET_DEPENDENCIES}
)
ament_target_dependencies(
sick_generic_caller
"rclcpp"
"sensor_msgs"
"std_msgs"
"geometry_msgs"
"diagnostic_msgs"
"nav_msgs"
"visualization_msgs"
"tf2_ros"
"${diagnostic_updater_pkg}"
${LDMRS_TARGET_DEPENDENCIES}
)
if(WIN32 OR EXISTS "/opt/ros/eloquent" OR EXISTS "/opt/ros/foxy" OR EXISTS "/opt/ros/galactic") # rosidl_typesupport for ROS2 eloquent, foxy, galaxy
rosidl_target_interfaces(${PROJECT_NAME}_lib ${PROJECT_NAME} "rosidl_typesupport_c")
rosidl_target_interfaces(${PROJECT_NAME}_lib ${PROJECT_NAME} "rosidl_typesupport_cpp")
rosidl_target_interfaces(${PROJECT_NAME}_shared_lib ${PROJECT_NAME} "rosidl_typesupport_c")
rosidl_target_interfaces(${PROJECT_NAME}_shared_lib ${PROJECT_NAME} "rosidl_typesupport_cpp")
rosidl_target_interfaces(sick_generic_caller ${PROJECT_NAME} "rosidl_typesupport_c") # required?
rosidl_target_interfaces(sick_generic_caller ${PROJECT_NAME} "rosidl_typesupport_cpp") # required?
else() # rosidl_typesupport for ROS2 humble or later
rosidl_get_typesupport_target(c_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_c")
rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
target_link_libraries(${PROJECT_NAME}_lib "${c_typesupport_target}")
target_link_libraries(${PROJECT_NAME}_lib "${cpp_typesupport_target}")
target_link_libraries(${PROJECT_NAME}_shared_lib "${p_typesupport_target}")
target_link_libraries(${PROJECT_NAME}_shared_lib "${cpp_typesupport_target}")
target_link_libraries(sick_generic_caller "${c_typesupport_target}")
target_link_libraries(sick_generic_caller "${cpp_typesupport_target}")
endif()
endif()
# Build test and usage example for sick_scan_xd_api
# For ROS-1 and ROS-2:
# - sick_scan_xd_api_test with is deactivated by default
# to avoid phtread dependencies for bloom releases
# - sick_scan_xd_api_test for development and test only
# Native Windows and Linux (ROS_VERSION==0):
# - build sick_scan_xd_api_test (development, test and usage example)
if(ROS_VERSION EQUAL 0) # build API test on native Windows or Linux
set(BUILD_SICK_SCAN_XD_API_TEST 1)
elseif(${ENABLE_EMULATOR} OR ENABLE_EMULATOR EQUAL ON) # i.e. development
set(BUILD_SICK_SCAN_XD_API_TEST 1)
else()
set(BUILD_SICK_SCAN_XD_API_TEST 0)
endif()
if(BUILD_SICK_SCAN_XD_API_TEST EQUAL 1)
add_executable(sick_scan_xd_api_test
driver/src/sick_scan_xd_api/sick_scan_api_converter.cpp
test/src/sick_scan_xd_api/sick_scan_xd_api_test.cpp
test/src/sick_scan_xd_api/sick_scan_xd_api_wrapper.c
test/src/sick_scan_xd_api/toojpeg/toojpeg.cpp
)
target_include_directories(sick_scan_xd_api_test PUBLIC test/src/sick_scan_xd_api/toojpeg)
if(NOT WIN32)
target_link_libraries(sick_scan_xd_api_test "dl") # link with dl for dynamic library loading
if(ROS_VERSION EQUAL 0)
target_link_libraries(sick_scan_xd_api_test "pthread") # pthread required for std::thread
target_link_options(sick_scan_xd_api_test PUBLIC "LINKER:--no-as-needed") # fixes exception "Enable multithreading to use std::thread: Operation not permitted"
elseif(ROS_VERSION EQUAL 1)
target_link_libraries(sick_scan_xd_api_test ${catkin_LIBRARIES})
add_dependencies(sick_scan_xd_api_test ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
elseif(ROS_VERSION EQUAL 2)
target_link_libraries(sick_scan_xd_api_test "pthread") # pthread required for std::thread
endif()
endif()
endif()
# install sick_scan_xd_shared_lib incl. API headerfiles
if(ROS_VERSION EQUAL 0)
include(GNUInstallDirs)
set_target_properties(${PROJECT_NAME}_shared_lib PROPERTIES PUBLIC_HEADER "include/sick_scan_xd_api/sick_scan_api.h;python/api/sick_scan_api.py")
install(TARGETS ${PROJECT_NAME}_shared_lib
EXPORT sick_scan_xd_Export
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/sick_scan_xd"
INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
)
# Export sick_scan_xd_shared_lib target to be used by other projects
install(EXPORT sick_scan_xd_Export
FILE sick_scan_xd-config.cmake
NAMESPACE sick_scan_xd::
DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/sick_scan_xd
)
endif()
if(ROS_VERSION EQUAL 1)
install(TARGETS ${PROJECT_NAME}_lib ${PROJECT_NAME}_shared_lib
DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
install(TARGETS sick_generic_caller
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
if(BUILD_SICK_SCAN_XD_API_TEST EQUAL 1)
install(TARGETS sick_scan_xd_api_test
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
endif()
install(FILES include/sick_scan/abstract_parser.h
include/sick_scan/sick_scan_common.h
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
install(DIRECTORY test/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/test
FILES_MATCHING PATTERN "*.xml"
PATTERN "test/src" EXCLUDE)
install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
install(DIRECTORY meshes/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/meshes)
install(DIRECTORY urdf/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf)
endif()
if(ROS_VERSION EQUAL 2)
if(BUILD_SICK_SCAN_XD_API_TEST EQUAL 1)
install(TARGETS sick_scan_xd_api_test DESTINATION lib/${PROJECT_NAME})
endif()
install(TARGETS sick_generic_caller DESTINATION lib/${PROJECT_NAME})
install(TARGETS ${PROJECT_NAME}_lib ${PROJECT_NAME}_shared_lib DESTINATION lib)
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
ament_package()
endif()
#
# build and install emulator
#
if((${ENABLE_EMULATOR} OR ENABLE_EMULATOR EQUAL ON) AND (NOT WIN32 OR ROS_VERSION EQUAL 2)) # sick_scan_emulator not supported on native Windows
add_executable(sick_scan_emulator
test/emulator/src/test_server.cpp
test/emulator/src/test_server_thread.cpp
test/emulator/src/client_socket.cpp
test/emulator/src/cola_converter.cpp
test/emulator/src/cola_encoder.cpp
test/emulator/src/cola_parser.cpp
test/emulator/src/cola_transmitter.cpp
test/emulator/src/crc/crc16ccitt_false.cpp
test/emulator/src/pcapng_json_parser.cpp
test/emulator/src/random_generator.cpp
test/emulator/src/result_port_parser.cpp
test/emulator/src/ros_wrapper.cpp
test/emulator/src/server_socket.cpp
test/emulator/src/test_server.cpp
test/emulator/src/test_server_thread.cpp
test/emulator/src/testcase_generator.cpp
test/emulator/src/utils.cpp
${SRC_ROSSIMU_FILES}
${SRC_WIN_FILES}
)
target_link_libraries(sick_scan_emulator
${catkin_LIBRARIES}
${roslib_LIBRARIES}
${PROJECT_NAME}_lib
${SICK_LDMRS_LIBRARIES}
${LIB_JSONCPP})
target_include_directories(sick_scan_emulator PUBLIC test test/emulator/include)
if(NOT WIN32 AND NOT ROS_VERSION EQUAL 1)
target_link_libraries(sick_scan_emulator "pthread") # pthread required for std::thread
endif()
if(ROS_VERSION EQUAL 1)
install(TARGETS sick_scan_emulator
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
install(DIRECTORY test/emulator/launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
install(DIRECTORY test/emulator/yaml/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/yaml)
install(DIRECTORY test/emulator/scandata/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/scandata)
else()
install(TARGETS sick_scan_emulator
RUNTIME DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY test/emulator/launch/
DESTINATION share/${PROJECT_NAME})
install(DIRECTORY test/emulator/yaml/
DESTINATION share/${PROJECT_NAME})
install(DIRECTORY test/emulator/scandata/
DESTINATION share/${PROJECT_NAME})
endif()
endif()
#
# build and install test_server
#
if(${ENABLE_EMULATOR} OR ENABLE_EMULATOR EQUAL ON)
add_executable(test_server
test/emulator/src/server_socket.cpp
tools/test_server/src/test_server.cpp
tools/test_server/src/test_server_cola_msg.cpp
tools/test_server/src/test_server_ldmrs_msg.cpp
tools/test_server/src/test_server_thread.cpp)
target_link_libraries(test_server ${PROJECT_NAME}_lib ${SICK_LDMRS_LIBRARIES} ${LIB_JSONCPP})
target_include_directories(test_server PUBLIC test test/emulator/include)
if(NOT WIN32 AND NOT ROS_VERSION EQUAL 1)
target_link_libraries(test_server "pthread") # pthread required for std::thread
endif()
if(ROS_VERSION EQUAL 2)
ament_target_dependencies(test_server "rclcpp" )
endif()
install(TARGETS
test_server
DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY
tools/test_server/config
tools/test_server/launch
DESTINATION share/${PROJECT_NAME})
endif()