CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
cmake_policy(SET CMP0048 NEW)
project(rslidar_sdk)

#=======================================
# Custom Point Type (XYZI,XYZIRT, XYZIF, XYZIRTF)
#=======================================
set(POINT_TYPE XYZIRTF)

option(ENABLE_TRANSFORM "Enable transform functions" OFF)
if (${ENABLE_TRANSFORM})
    add_definitions("-DENABLE_TRANSFORM")
    find_package(Eigen3 REQUIRED)
    include_directories(${EIGEN3_INCLUDE_DIR})
endif (${ENABLE_TRANSFORM})

option(ENABLE_EPOLL_RECEIVE "Receive packets with epoll() instead of select()" OFF)
if (${ENABLE_EPOLL_RECEIVE})
    add_definitions("-DENABLE_EPOLL_RECEIVE")
endif (${ENABLE_EPOLL_RECEIVE})

option(ENABLE_MODIFY_RECVBUF "Enable modify size of RECVBUF" ON)
if (${ENABLE_MODIFY_RECVBUF})
    add_definitions("-DENABLE_MODIFY_RECVBUF")
endif (${ENABLE_MODIFY_RECVBUF})

option(ENABLE_WAIT_IF_QUEUE_EMPTY "Enable waiting for a while in handle thread if the queue is empty" OFF)
if (${ENABLE_WAIT_IF_QUEUE_EMPTY})
    add_definitions("-DENABLE_WAIT_IF_QUEUE_EMPTY")
endif (${ENABLE_WAIT_IF_QUEUE_EMPTY})

option(ENABLE_DIFOP_PARSE "Enable parsing DIFOP Packet" ON)
if (${ENABLE_DIFOP_PARSE})
    add_definitions("-DENABLE_DIFOP_PARSE")
endif (${ENABLE_DIFOP_PARSE})

option(ENABLE_STAMP_WITH_LOCAL "Enable stamp point cloud with local time" OFF)
if (${ENABLE_STAMP_WITH_LOCAL})
    add_definitions("-DENABLE_STAMP_WITH_LOCAL")
endif (${ENABLE_STAMP_WITH_LOCAL})


option(ENABLE_SOURCE_PACKET_LEGACY "Enable ROS Source of MSOP/DIFOP Packet v1.3.x" OFF)
if (${ENABLE_SOURCE_PACKET_LEGACY})
    add_definitions("-DENABLE_SOURCE_PACKET_LEGACY")
endif (${ENABLE_SOURCE_PACKET_LEGACY})

option(ENABLE_IMU_DATA_PARSE "Enable imu data parse" ON)
if (${ENABLE_IMU_DATA_PARSE})

    message(=============================================================)
    message("-- Enable imu data parse")
    message(=============================================================)

    add_definitions("-DENABLE_IMU_DATA_PARSE")

endif (${ENABLE_IMU_DATA_PARSE})

#========================
# Project details / setup
#========================
set(PROJECT_NAME rslidar_sdk)

add_definitions(-DPROJECT_PATH="${PROJECT_SOURCE_DIR}")

if (CMAKE_BUILD_TYPE STREQUAL "")
    set(CMAKE_BUILD_TYPE Release)
    add_definitions(-O3)
endif ()

add_definitions(-std=c++17)
add_compile_options(-Wall)

#========================
# Point Type Definition
#========================
if (${POINT_TYPE} STREQUAL "XYZI")
    add_definitions(-DPOINT_TYPE_XYZI)
elseif (${POINT_TYPE} STREQUAL "XYZIRT")
    add_definitions(-DPOINT_TYPE_XYZIRT)
elseif (${POINT_TYPE} STREQUAL "XYZIF")
    add_definitions(-DPOINT_TYPE_XYZIF)
elseif (${POINT_TYPE} STREQUAL "XYZIRTF")
    add_definitions(-DPOINT_TYPE_XYZIRTF)
endif ()

message(=============================================================)
message("-- POINT_TYPE is ${POINT_TYPE}")
message(=============================================================)

#========================
# Dependencies Setup
#========================

find_package(rclcpp QUIET)

include_directories(${rclcpp_INCLUDE_DIRS})
set(CMAKE_CXX_STANDARD 17)

find_package(ament_cmake REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(rslidar_msg REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(composition_interfaces REQUIRED)


#Others#
find_package(yaml-cpp REQUIRED)

#Include directory#
include_directories(${PROJECT_SOURCE_DIR}/src)

#Driver core#
add_subdirectory(src/rs_driver)
find_package(rs_driver REQUIRED)
include_directories(${rs_driver_INCLUDE_DIRS})

#========================
# Build Setup
#========================

add_library(${PROJECT_NAME} SHARED
        src/source/source.cpp
        src/source/source_driver.cpp
        src/source/source_packet_ros.cpp
        src/source/destination_pointcloud_ros.cpp
        src/source/destination_packet_ros.cpp
)
ament_target_dependencies(${PROJECT_NAME}
        rclcpp
        std_msgs
        sensor_msgs
        rslidar_msg)
target_link_libraries(${PROJECT_NAME}
        yaml-cpp
        ${rs_driver_LIBRARIES}
)

add_executable(rslidar_sdk_node node/rslidar_sdk_node.cpp src/manager/node_manager.cpp)
target_link_libraries(rslidar_sdk_node
        ${PROJECT_NAME})
ament_target_dependencies(rslidar_sdk_node
        rclcpp
        std_msgs
        sensor_msgs
        rslidar_msg)
install(TARGETS
        rslidar_sdk_node
        DESTINATION lib/${PROJECT_NAME})

# Both rslidar_sdk_node and rslidar_component link the rslidar_sdk shared
# library, so it has to be installed too. Without this the node builds fine
# but aborts at startup with:
#   error while loading shared libraries: librslidar_sdk.so
install(TARGETS ${PROJECT_NAME}
        ARCHIVE DESTINATION lib
        LIBRARY DESTINATION lib
        RUNTIME DESTINATION bin)

add_library(rslidar_component SHARED src/manager/rslidar_component.cpp)
target_link_libraries(rslidar_component
        ${PROJECT_NAME}
        yaml-cpp)
ament_target_dependencies(rslidar_component
        rclcpp
        rclcpp_components
        composition_interfaces
        std_msgs
        sensor_msgs
        rslidar_msg)
rclcpp_components_register_nodes(rslidar_component "robosense::lidar::RSLiDARComponent")
install(TARGETS rslidar_component
        ARCHIVE DESTINATION lib
        LIBRARY DESTINATION lib
        RUNTIME DESTINATION lib/${PROJECT_NAME}
)

install(DIRECTORY
        launch
        rviz
        config
        DESTINATION share/${PROJECT_NAME})

ament_package()