CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(mlmapping)

set(CMAKE_CXX_FLAGS "-std=c++17 ${CMAKE_CXX_FLAGS} -O3 -Wall -pthread") # -Wextra -Werror
set(CMAKE_BUILD_TYPE "RELEASE")

find_package (Eigen3 REQUIRED)
find_package (Sophus REQUIRED)
find_package (yaml-cpp REQUIRED)
find_package (PCL REQUIRED)

add_definitions( ${PCL_DEFINITIONS} )

find_package(catkin REQUIRED COMPONENTS
    nodelet
    roscpp
    rostime
    message_filters
    message_generation
    std_msgs
    sensor_msgs
    geometry_msgs
    tf
    tf2
    nav_msgs
    visualization_msgs
    pcl_conversions
    cv_bridge
    )

add_message_files(
    FILES
    awareness2local.msg
    awareness.msg
    localmap.msg
    esdfs.msg
    )

generate_messages(
    DEPENDENCIES
    std_msgs
    sensor_msgs
    geometry_msgs
    nav_msgs
    visualization_msgs
    )

## Declare a catkin package
# catkin_package(
#     CATKIN_DEPENDS message_runtime
#     )
catkin_package(
    INCLUDE_DIRS include
    # INCLUDE_DIRS src
    LIBRARIES mlmapping
    CATKIN_DEPENDS roscpp std_msgs
    )
include_directories(
    SYSTEM
    include
    ${catkin_INCLUDE_DIRS}
    ${CSPARSE_INCLUDE_DIR}
    ${Sophus_INCLUDE_DIRS}
    ${YAML_CPP_INCLUDE_DIR}
    ${PCL_INCLUDE_DIRS}
    ${OpenCV_INCLUDE_DIRS}
    ${CMAKE_CURRENT_SOURCE_DIR}/src/
    # ${CMAKE_CURRENT_SOURCE_DIR}/include/
    "${CMAKE_CURRENT_SOURCE_DIR}/src/msgs/"
    )

## Declare a C++ library
add_library(mlmapping
    src/nodelet_map.cpp
    src/map_awareness.cpp
    src/map_local.cpp
    src/mlmap.cpp
    src/rviz_vis.cpp
    src/msgs/msg_awareness2local.cpp
    src/msgs/msg_awareness.cpp
    src/msgs/msg_localmap.cpp
    include/independent_modules/l2grid2d.cpp
    include/independent_modules/l2esdfs_batch_3d.cpp
    )

add_dependencies(mlmapping
    mlmapping_generate_messages_cpp
    ${catkin_EXPORTED_TARGETS}
    )

target_link_libraries(mlmapping
    ${catkin_LIBRARIES}
    ${CSPARSE_LIBRARY}
    ${Sophus_LIBRARIES}
    ${YAML_CPP_LIBRARIES}
    ${Boost_SYSTEM_LIBRARY}
    )

# add_executable(visualization
#     src/node_visualization.cpp
#     src/map_awareness.cpp
#     src/map_warehouse.cpp
#     src/map_local.cpp
#     src/rviz_vis.cpp
#     src/msgs/msg_awareness.cpp
#     src/msgs/msg_localmap.cpp
#     )
# add_dependencies(visualization
#     mlmapping_generate_messages_cpp
#     ${catkin_EXPORTED_TARGETS}
#     )
# target_link_libraries(visualization
#     ${catkin_LIBRARIES}
#     ${CSPARSE_LIBRARY}
#     ${Sophus_LIBRARIES}
#     ${YAML_CPP_LIBRARIES}
#     )

add_executable(republish_record
    include/independent_modules/repub_rec.cpp
    )
target_link_libraries(republish_record
    ${catkin_LIBRARIES}
    )