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fix: compare map segmentation load #165

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merged 3 commits into from
Oct 28, 2022
Merged

fix: compare map segmentation load #165

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05c9b25
fix(pointcloud_preprocessor): separate targets for base class (#1982)
wep21 Oct 13, 2022
10e1950
fix(pointcloud_preprocessor): add missed target dependency (#2101)
kaancolak Oct 21, 2022
2f0fa57
fix: remove un-existed file from cmake
tkimura4 Oct 28, 2022
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20 changes: 19 additions & 1 deletion perception/compare_map_segmentation/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@ include_directories(
${GRID_MAP_INCLUDE_DIR}
)

ament_auto_add_library(compare_map_segmentation SHARED
add_library(compare_map_segmentation SHARED
src/distance_based_compare_map_filter_nodelet.cpp
src/voxel_based_approximate_compare_map_filter_nodelet.cpp
src/voxel_based_compare_map_filter_nodelet.cpp
Expand All @@ -30,11 +30,22 @@ ament_auto_add_library(compare_map_segmentation SHARED
)

target_link_libraries(compare_map_segmentation
pointcloud_preprocessor::pointcloud_preprocessor_filter_base
${Boost_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
)

ament_target_dependencies(compare_map_segmentation
grid_map_pcl
grid_map_ros
pcl_conversions
rclcpp
rclcpp_components
sensor_msgs
tier4_autoware_utils
)

if(OPENMP_FOUND)
set_target_properties(compare_map_segmentation PROPERTIES
COMPILE_FLAGS ${OpenMP_CXX_FLAGS}
Expand Down Expand Up @@ -68,6 +79,13 @@ rclcpp_components_register_node(compare_map_segmentation
PLUGIN "compare_map_segmentation::CompareElevationMapFilterComponent"
EXECUTABLE compare_elevation_map_filter_node)

install(
TARGETS compare_map_segmentation
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)

ament_auto_package(INSTALL_TO_SHARE
launch
)
40 changes: 39 additions & 1 deletion sensing/pointcloud_preprocessor/CMakeLists.txt
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,26 @@ include_directories(
${GRID_MAP_INCLUDE_DIR}
)

ament_auto_add_library(pointcloud_preprocessor_filter SHARED
add_library(pointcloud_preprocessor_filter_base SHARED
src/filter.cpp
)

target_include_directories(pointcloud_preprocessor_filter_base PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
)

ament_target_dependencies(pointcloud_preprocessor_filter_base
message_filters
pcl_conversions
rclcpp
sensor_msgs
tf2_ros
tier4_autoware_utils
pcl_ros
)

ament_auto_add_library(pointcloud_preprocessor_filter SHARED
src/concatenate_data/concatenate_data_nodelet.cpp
src/crop_box_filter/crop_box_filter_nodelet.cpp
src/downsample_filter/voxel_grid_downsample_filter_nodelet.cpp
Expand All @@ -43,6 +61,7 @@ ament_auto_add_library(pointcloud_preprocessor_filter SHARED
)

target_link_libraries(pointcloud_preprocessor_filter
pointcloud_preprocessor_filter_base
${Boost_LIBRARIES}
${OpenCV_LIBRARIES}
${PCL_LIBRARIES}
Expand Down Expand Up @@ -145,6 +164,25 @@ rclcpp_components_register_node(pointcloud_preprocessor_filter
set(CGAL_DO_NOT_WARN_ABOUT_CMAKE_BUILD_TYPE TRUE)
target_link_libraries(polygon_remover_node gmp CGAL CGAL::CGAL CGAL::CGAL_Core)

# ========== Vector Map Inside Area Filter ===========
rclcpp_components_register_node(pointcloud_preprocessor_filter
PLUGIN "pointcloud_preprocessor::VectorMapInsideAreaFilterComponent"
EXECUTABLE vector_map_inside_area_filter_node)

install(
TARGETS pointcloud_preprocessor_filter_base EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)

install(
DIRECTORY include/
DESTINATION include/${PROJECT_NAME}
)

ament_export_targets(export_${PROJECT_NAME})

ament_auto_package(INSTALL_TO_SHARE
launch
)