95 lines
3.2 KiB
CMake
95 lines
3.2 KiB
CMake
cmake_minimum_required(VERSION 2.8.3)
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project(velodyne_driver)
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# Set minimum C++ standard to C++11
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if (NOT "${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}")
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message(STATUS "Changing CXX_STANDARD from C++98 to C++11")
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
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elseif ("${CMAKE_CXX_STANDARD_COMPUTED_DEFAULT}" STREQUAL "98")
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message(STATUS "Changing CXX_STANDARD from C++98 to C++11")
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set(CMAKE_CXX_STANDARD 11)
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endif()
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set(${PROJECT_NAME}_CATKIN_DEPS
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diagnostic_updater
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dynamic_reconfigure
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nodelet
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roscpp
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tf
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velodyne_msgs)
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find_package(catkin REQUIRED COMPONENTS ${${PROJECT_NAME}_CATKIN_DEPS} roslint)
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# This driver uses Boost threads
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find_package(Boost REQUIRED COMPONENTS thread)
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# libpcap provides no pkg-config or find_package module:
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set(libpcap_LIBRARIES -lpcap)
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include_directories(include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS})
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# Generate dynamic_reconfigure server
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generate_dynamic_reconfigure_options(cfg/VelodyneNode.cfg)
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# objects needed by other ROS packages that depend on this one
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catkin_package(CATKIN_DEPENDS ${${PROJECT_NAME}_CATKIN_DEPS}
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INCLUDE_DIRS include
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LIBRARIES velodyne_input)
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# compile the driver and input library
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add_subdirectory(src/lib)
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add_subdirectory(src/driver)
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
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install(FILES nodelet_velodyne.xml
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
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install(DIRECTORY launch/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
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install(PROGRAMS src/vdump
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DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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roslint_cpp()
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if (CATKIN_ENABLE_TESTING)
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# these dependencies are only needed for unit testing
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find_package(roslaunch REQUIRED)
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find_package(rostest REQUIRED)
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# Download packet capture (PCAP) files containing test data.
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# Store them in devel-space, so rostest can easily find them.
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catkin_download_test_data(
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${PROJECT_NAME}_tests_class.pcap
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http://download.ros.org/data/velodyne/class.pcap
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DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
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MD5 65808d25772101358a3719b451b3d015)
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catkin_download_test_data(
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${PROJECT_NAME}_tests_32e.pcap
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http://download.ros.org/data/velodyne/32e.pcap
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DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
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MD5 e41d02aac34f0967c03a5597e1d554a9)
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catkin_download_test_data(
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${PROJECT_NAME}_tests_vlp16.pcap
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http://download.ros.org/data/velodyne/vlp16.pcap
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DESTINATION ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_SHARE_DESTINATION}/tests
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MD5 f45c2bb1d7ee358274e423ea3b66fd73)
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# unit tests
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add_rostest(tests/pcap_node_hertz.test)
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add_rostest(tests/pcap_nodelet_hertz.test)
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add_rostest(tests/pcap_32e_node_hertz.test)
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add_rostest(tests/pcap_32e_nodelet_hertz.test)
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add_rostest(tests/pcap_vlp16_node_hertz.test)
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add_rostest(tests/pcap_vlp16_nodelet_hertz.test)
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# parse check all the launch/*.launch files
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roslaunch_add_file_check(launch)
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# unit test
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catkin_add_gtest(time_test tests/timeconversiontest.cpp)
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target_link_libraries(time_test
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${catkin_LIBRARIES}
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${Boost_LIBRARIES})
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endif (CATKIN_ENABLE_TESTING)
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