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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 2.8.3)
project(robot_localization)
if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
message("${PROJECT_NAME}: You did not request a specific build type: selecting 'RelWithDebInfo'.")
set(CMAKE_BUILD_TYPE RelWithDebInfo)
endif()
find_package(catkin REQUIRED COMPONENTS
diagnostic_msgs
diagnostic_updater
eigen_conversions
geographic_msgs
geometry_msgs
message_filters
message_generation
nav_msgs
nodelet
roscpp
roslint
sensor_msgs
std_msgs
std_srvs
tf2
tf2_geometry_msgs
tf2_ros
xmlrpcpp)
find_package(PkgConfig REQUIRED)
pkg_check_modules(YAML_CPP yaml-cpp)
# Attempt to find Eigen using its own CMake module.
# If that fails, fall back to cmake_modules package.
find_package(Eigen3)
set(EIGEN_PACKAGE EIGEN3)
if(NOT EIGEN3_FOUND)
find_package(cmake_modules REQUIRED)
find_package(Eigen REQUIRED)
set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})
set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES})
set(EIGEN_PACKAGE Eigen)
endif()
set_directory_properties(PROPERTIES COMPILE_OPTIONS "-std=c++14;-Wall;-Werror")
add_definitions(-DEIGEN_NO_DEBUG -DEIGEN_MPL2_ONLY)
set(ROSLINT_CPP_OPTS "--filter=-build/c++11,-runtime/references")
roslint_cpp()
###################################
## catkin specific configuration ##
###################################
add_service_files(
FILES
GetState.srv
SetDatum.srv
SetPose.srv
ToggleFilterProcessing.srv
FromLL.srv
ToLL.srv
)
generate_messages(
DEPENDENCIES
geographic_msgs
geometry_msgs
std_msgs
)
catkin_package(
INCLUDE_DIRS
include
LIBRARIES
ekf
ekf_localization_nodelet
filter_base
filter_utilities
navsat_transform
navsat_transform_nodelet
ros_filter
ros_filter_utilities
robot_localization_estimator
ros_robot_localization_listener
ukf
ukf_localization_nodelet
CATKIN_DEPENDS
cmake_modules
diagnostic_msgs
diagnostic_updater
eigen_conversions
geographic_msgs
geometry_msgs
message_filters
message_runtime
nav_msgs
roscpp
sensor_msgs
std_msgs
std_srvs
tf2
tf2_geometry_msgs
tf2_ros
xmlrpcpp
DEPENDS
${EIGEN_PACKAGE}
YAML_CPP
)
###########
## Build ##
###########
include_directories(
include
${catkin_INCLUDE_DIRS}
${EIGEN3_INCLUDE_DIRS}
${YAML_CPP_INCLUDE_DIRS})
link_directories(${YAML_CPP_LIBRARY_DIRS})
# Library definitions
add_library(filter_utilities src/filter_utilities.cpp)
add_library(filter_base src/filter_base.cpp)
add_library(ekf src/ekf.cpp)
add_library(ukf src/ukf.cpp)
add_library(robot_localization_estimator src/robot_localization_estimator.cpp)
add_library(ros_robot_localization_listener src/ros_robot_localization_listener.cpp)
add_library(ros_filter_utilities src/ros_filter_utilities.cpp)
add_library(ros_filter src/ros_filter.cpp)
add_library(navsat_transform src/navsat_transform.cpp)
add_library(ekf_localization_nodelet src/ekf_localization_nodelet.cpp)
add_library(ukf_localization_nodelet src/ukf_localization_nodelet.cpp)
add_library(navsat_transform_nodelet src/navsat_transform_nodelet.cpp)
# Executables
add_executable(ekf_localization_node src/ekf_localization_node.cpp)
add_executable(ukf_localization_node src/ukf_localization_node.cpp)
add_executable(navsat_transform_node src/navsat_transform_node.cpp)
add_executable(robot_localization_listener_node src/robot_localization_listener_node.cpp)
# Dependencies
add_dependencies(filter_base ${PROJECT_NAME}_gencpp)
add_dependencies(navsat_transform ${PROJECT_NAME}_gencpp)
add_dependencies(robot_localization_listener_node ${PROJECT_NAME}_gencpp)
# Linking
target_link_libraries(ros_filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES})
target_link_libraries(filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES})
target_link_libraries(filter_base filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES})
target_link_libraries(ekf filter_base ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES})
target_link_libraries(ukf filter_base ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES})
target_link_libraries(ros_filter ekf ukf ros_filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES})
target_link_libraries(robot_localization_estimator filter_utilities filter_base ekf ukf ${EIGEN3_LIBRARIES})
target_link_libraries(ros_robot_localization_listener robot_localization_estimator ros_filter_utilities
${catkin_LIBRARIES} ${EIGEN3_LIBRARIES} ${YAML_CPP_LIBRARIES})
target_link_libraries(robot_localization_listener_node ros_robot_localization_listener ${catkin_LIBRARIES})
target_link_libraries(ekf_localization_node ros_filter ${catkin_LIBRARIES})
target_link_libraries(ekf_localization_nodelet ros_filter ${catkin_LIBRARIES})
target_link_libraries(ukf_localization_node ros_filter ${catkin_LIBRARIES})
target_link_libraries(ukf_localization_nodelet ros_filter ${catkin_LIBRARIES})
target_link_libraries(navsat_transform filter_utilities ros_filter_utilities ${catkin_LIBRARIES} ${EIGEN3_LIBRARIES})
target_link_libraries(navsat_transform_node navsat_transform ${catkin_LIBRARIES})
target_link_libraries(navsat_transform_nodelet navsat_transform ${catkin_LIBRARIES})
#############
## Install ##
#############
## Mark executables and/or libraries for installation
install(TARGETS
ekf
ekf_localization_node
ekf_localization_nodelet
filter_base
filter_utilities
navsat_transform
navsat_transform_node
navsat_transform_nodelet
ros_filter
ros_filter_utilities
robot_localization_estimator
ros_robot_localization_listener
robot_localization_listener_node
ukf
ukf_localization_node
ukf_localization_nodelet
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
## Mark cpp header files for installation
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE)
install(DIRECTORY launch/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
FILES_MATCHING PATTERN "*.launch")
install(DIRECTORY params/
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/params)
install(FILES
LICENSE
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
install(FILES nodelet_plugins.xml
DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
)
#############
## Testing ##
#############
if (CATKIN_ENABLE_TESTING)
roslint_add_test()
# Not really necessary, but it will cause the build to fail if it's
# missing, rather than failing once the tests are being executed
find_package(rosbag REQUIRED)
find_package(rostest REQUIRED)
#### FILTER BASE TESTS ####
catkin_add_gtest(filter_base-test test/test_filter_base.cpp)
target_link_libraries(filter_base-test filter_base ${catkin_LIBRARIES})
# This test uses ekf_localization node for convenience.
add_rostest_gtest(test_filter_base_diagnostics_timestamps
test/test_filter_base_diagnostics_timestamps.test
test/test_filter_base_diagnostics_timestamps.cpp)
target_link_libraries(test_filter_base_diagnostics_timestamps ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_dependencies(test_filter_base_diagnostics_timestamps ekf_localization_node)
#### EKF TESTS #####
add_rostest_gtest(test_ekf
test/test_ekf.test
test/test_ekf.cpp)
target_link_libraries(test_ekf ros_filter ekf ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_rostest_gtest(test_ekf_localization_node_interfaces
test/test_ekf_localization_node_interfaces.test
test/test_ekf_localization_node_interfaces.cpp)
target_link_libraries(test_ekf_localization_node_interfaces ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_rostest_gtest(test_ekf_localization_node_bag1
test/test_ekf_localization_node_bag1.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ekf_localization_node_bag1 ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_rostest_gtest(test_ekf_localization_node_bag2
test/test_ekf_localization_node_bag2.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ekf_localization_node_bag2 ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_rostest_gtest(test_ekf_localization_node_bag3
test/test_ekf_localization_node_bag3.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ekf_localization_node_bag3 ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_rostest_gtest(test_ekf_localization_nodelet_bag1
test/test_ekf_localization_nodelet_bag1.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ekf_localization_nodelet_bag1 ${catkin_LIBRARIES} ${rostest_LIBRARIES})
#### UKF TESTS #####
add_rostest_gtest(test_ukf
test/test_ukf.test
test/test_ukf.cpp)
target_link_libraries(test_ukf ros_filter ukf ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_rostest_gtest(test_ukf_localization_node_interfaces
test/test_ukf_localization_node_interfaces.test
test/test_ukf_localization_node_interfaces.cpp)
target_link_libraries(test_ukf_localization_node_interfaces ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_rostest_gtest(test_ukf_localization_node_bag1
test/test_ukf_localization_node_bag1.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ukf_localization_node_bag1 ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_rostest_gtest(test_ukf_localization_node_bag2
test/test_ukf_localization_node_bag2.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ukf_localization_node_bag2 ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_rostest_gtest(test_ukf_localization_node_bag3
test/test_ukf_localization_node_bag3.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ukf_localization_node_bag3 ${catkin_LIBRARIES} ${rostest_LIBRARIES})
add_rostest_gtest(test_ukf_localization_nodelet_bag1
test/test_ukf_localization_nodelet_bag1.test
test/test_localization_node_bag_pose_tester.cpp)
target_link_libraries(test_ukf_localization_nodelet_bag1 ${catkin_LIBRARIES} ${rostest_LIBRARIES})
#### RLE/RLL TESTS #####
add_rostest_gtest(test_robot_localization_estimator
test/test_robot_localization_estimator.test
test/test_robot_localization_estimator.cpp)
target_link_libraries(test_robot_localization_estimator
robot_localization_estimator
${catkin_LIBRARIES}
${rostest_LIBRARIES})
add_executable(test_ros_robot_localization_listener_publisher test/test_ros_robot_localization_listener_publisher.cpp)
target_link_libraries(test_ros_robot_localization_listener_publisher
${catkin_LIBRARIES})
add_rostest_gtest(test_ros_robot_localization_listener
test/test_ros_robot_localization_listener.test
test/test_ros_robot_localization_listener.cpp)
target_link_libraries(test_ros_robot_localization_listener
ros_robot_localization_listener
${catkin_LIBRARIES}
${rostest_LIBRARIES})
endif()