CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(dynus)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# avoid Found-related error (ref: https://stackoverflow.com/questions/18327197/opencv-is-considered-to-be-not-found)
set(decomp_rviz_plugins_FOUND 1)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_python REQUIRED)
find_package(gazebo REQUIRED) # Note: if you put this line later on, it gives an error
find_package(rclcpp REQUIRED)
find_package(rclpy REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(example_interfaces REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(decomp_util REQUIRED)
find_package(decomp_ros_msgs REQUIRED)
find_package(decomp_rviz_plugins REQUIRED)
find_package(decomp_test_node REQUIRED)
find_package(PCL REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(dynus_interfaces REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(gazebo_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(octomap_msgs REQUIRED)
find_package(octomap REQUIRED)
find_package(gazebo_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(std_srvs REQUIRED)
find_package(pcl_ros REQUIRED)

list(APPEND CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}")
find_package(GUROBI REQUIRED)

# check if gurobi is found
if(GUROBI_FOUND)
message(STATUS "GUROBI FOUND")
else(GUROBI_FOUND)
message(FATAL_ERROR "GUROBI NOT FOUND!")
endif(GUROBI_FOUND)

# OpenMP
find_package(OpenMP REQUIRED)
if (OPENMP_FOUND)
    set (CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${OpenMP_C_FLAGS}")
    set (CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${OpenMP_CXX_FLAGS}")
    set (CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${OpenMP_EXE_LINKER_FLAGS}")
endif()

# include directories
include_directories(${EIGEN3_INCLUDE_DIR} ${PCL_INCLUDE_DIRS} ${DECOMP_UTIL_INCLUDE_DIRS} ${GUROBI_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS} include)
link_directories(${PCL_LIBRARY_DIRS} ${BOOST_LIBRARY_DIRS} ${GAZEBO_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

# for dynus ROS2 components
# add_library(dynus_component SHARED src/dynus/dynus_node.cpp)
# ament_target_dependencies(dynus_component rclcpp rclcpp_components example_interfaces sensor_msgs)
# rclcpp_components_register_nodes(dynus_component "dynus::Dynus")

# set up for gurobi
FILE(GLOB GurobiSOFiles $ENV{GUROBI_HOME}/lib/libgurobi*[0-9].so) #files that are start with libgurobi and end with number.so
set(GUROBI_LIBRARIES "$ENV{GUROBI_HOME}/lib/libgurobi_c++.a;${GurobiSOFiles};$ENV{GUROBI_HOME}/lib/" )

# for jps test ROS2 components
# add_library(jps_component SHARED src/dynus/dynus_node.cpp src/dynus/dynus.cpp src/dgp/dgp_manager.cpp src/dgp/utils.cpp)
# target_link_libraries(jps_component ${DECOMP_UTIL_LIBRARIES})
# ament_target_dependencies(jps_component rclcpp rclcpp_components example_interfaces visualization_msgs Eigen3 decomp_ros_msgs decomp_rviz_plugins decomp_test_node)
# rclcpp_components_register_nodes(jps_component "dynus::DYNUS_NODE")

# add executables
add_executable(dynus src/dynus/dynus_node.cpp src/dynus/dynus.cpp src/dgp/dgp_manager.cpp src/dynus/yaw_solver.cpp src/dgp/utils.cpp src/dgp/dgp_planner.cpp src/dgp/graph_search.cpp src/dynus/gurobi_solver.cpp src/dynus/utils.cpp)
target_link_libraries(dynus ${GUROBI_LIBRARIES} ${PCL_LIBRARIES})
ament_target_dependencies(dynus rclcpp example_interfaces dynus_interfaces visualization_msgs Eigen3 decomp_ros_msgs sensor_msgs std_msgs octomap_msgs decomp_rviz_plugins decomp_test_node octomap tf2_geometry_msgs tf2 tf2_ros tf2_eigen std_srvs pcl_ros)

# Add the fake_sim executable
add_executable(fake_sim src/dynus/fake_sim.cpp)
target_link_libraries(fake_sim)
ament_target_dependencies(fake_sim rclcpp rclcpp_components visualization_msgs dynus_interfaces sensor_msgs gazebo_msgs sensor_msgs tf2 tf2_ros nav_msgs)

# Add the obstracle tracker
add_executable(obstacle_tracker_node src/dynus/obstacle_tracker_node.cpp src/dgp/utils.cpp src/dynus/utils.cpp)
target_link_libraries(obstacle_tracker_node ${PCL_LIBRARIES})
ament_target_dependencies(obstacle_tracker_node rclcpp rclcpp_components visualization_msgs Eigen3 dynus_interfaces std_msgs gazebo_msgs sensor_msgs tf2 tf2_ros pcl_conversions tf2_geometry_msgs tf2_eigen)

# Add goal to cmd_vel converter
add_executable(convert_goal_to_cmd_vel src/dynus/convert_goal_to_cmd_vel.cpp)
target_link_libraries(convert_goal_to_cmd_vel)
ament_target_dependencies(convert_goal_to_cmd_vel rclcpp example_interfaces dynus_interfaces visualization_msgs Eigen3 sensor_msgs std_msgs octomap_msgs decomp_rviz_plugins decomp_test_node octomap tf2_geometry_msgs tf2 tf2_ros tf2_eigen)

# Add goal to cmd_vel converter for quadruped
add_executable(quadruped_convert_goal_to_cmd_vel src/dynus/quadruped_convert_goal_to_cmd_vel.cpp)
target_link_libraries(quadruped_convert_goal_to_cmd_vel)
ament_target_dependencies(quadruped_convert_goal_to_cmd_vel rclcpp example_interfaces dynus_interfaces visualization_msgs Eigen3 sensor_msgs std_msgs octomap_msgs decomp_rviz_plugins decomp_test_node octomap tf2_geometry_msgs tf2 tf2_ros tf2_eigen)

# Add odom to state converter
add_executable(convert_odom_to_state src/dynus/convert_odom_to_state.cpp)
target_link_libraries(convert_odom_to_state)
ament_target_dependencies(convert_odom_to_state rclcpp example_interfaces dynus_interfaces visualization_msgs Eigen3 sensor_msgs std_msgs octomap_msgs decomp_rviz_plugins decomp_test_node octomap tf2_geometry_msgs tf2 tf2_ros tf2_eigen)

# Add odom to state converter for quadruped
add_executable(quadruped_convert_odom_to_state src/dynus/quadruped_convert_odom_to_state.cpp)
target_link_libraries(quadruped_convert_odom_to_state)
ament_target_dependencies(quadruped_convert_odom_to_state rclcpp example_interfaces dynus_interfaces visualization_msgs Eigen3 sensor_msgs std_msgs octomap_msgs decomp_rviz_plugins decomp_test_node octomap tf2_geometry_msgs tf2 tf2_ros tf2_eigen)

# Add vicon to state converter
add_executable(convert_vicon_to_state src/dynus/convert_vicon_to_state.cpp)
target_link_libraries(convert_vicon_to_state)
ament_target_dependencies(convert_vicon_to_state rclcpp example_interfaces dynus_interfaces visualization_msgs Eigen3 decomp_ros_msgs sensor_msgs std_msgs octomap_msgs decomp_rviz_plugins decomp_test_node octomap tf2_geometry_msgs tf2 tf2_ros tf2_eigen)

# Add the fake_dynamic_obstacle executable
# add_executable(fake_dynamic_obstacle src/dynus/fake_dynamic_obstacle.cpp)
# target_link_libraries(fake_dynamic_obstacle)
# ament_target_dependencies(fake_dynamic_obstacle rclcpp rclcpp_components visualization_msgs dynus_interfaces sensor_msgs gazebo_msgs sensor_msgs tf2 tf2_ros)

# Add the executable for the test file
add_executable(test_yaw_solver src/test/test_yaw_solver.cpp src/dynus/yaw_solver.cpp)
target_link_libraries(test_yaw_solver ${GUROBI_LIBRARIES})
ament_target_dependencies(test_yaw_solver rclcpp example_interfaces dynus_interfaces visualization_msgs Eigen3 decomp_ros_msgs sensor_msgs std_msgs octomap_msgs decomp_rviz_plugins decomp_test_node octomap tf2_geometry_msgs)

# Add the convert velodyne executable
add_executable(convert_velodyne_to_ros_time src/dynus/convert_velodyne_to_ros_time.cpp)
target_link_libraries(convert_velodyne_to_ros_time)
ament_target_dependencies(convert_velodyne_to_ros_time rclcpp rclcpp_components visualization_msgs dynus_interfaces sensor_msgs gazebo_msgs sensor_msgs tf2 tf2_ros nav_msgs)

# For dynamic obstacles in Gazebo
add_library(move_model SHARED src/sim/move_model.cpp)
target_link_libraries(move_model ${GAZEBO_LIBRARIES})
ament_target_dependencies(move_model rclcpp tf2 tf2_ros geometry_msgs)

# For gazebo plugins (IMU)
add_library(imu_plugin SHARED src/sim/gazebo_ros_imu_sensor.cpp)
target_link_libraries(imu_plugin ${GAZEBO_LIBRARIES})
ament_target_dependencies(imu_plugin sensor_msgs gazebo_ros)

# install for ROS2 components
# install(TARGETS
# # dynus_component
# # jps_component
# ARCHIVE DESTINATION lib
# LIBRARY DESTINATION lib
# RUNTIME DESTINATION bin
# )

# install for launch and config files
install(DIRECTORY
launch
config
rviz
worlds
urdf
meshes
DESTINATION share/${PROJECT_NAME}
)

# install for executables
install(TARGETS
  dynus
  fake_sim
  obstacle_tracker_node
  convert_goal_to_cmd_vel
  quadruped_convert_goal_to_cmd_vel
  convert_odom_to_state
  quadruped_convert_odom_to_state
  convert_vicon_to_state
  test_yaw_solver
  convert_velodyne_to_ros_time
  DESTINATION lib/${PROJECT_NAME}
)

# install for libraries
install(TARGETS
  move_model
  imu_plugin
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

# install Python modules
ament_python_install_package(${PROJECT_NAME})

# install Python executables
install(PROGRAMS
  scripts/dummy_traj_publisher.py
  # scripts/fake_sim.py # fake_sim.py is too slow - now we use fake_sim.cpp
  scripts/dynus_commands.py
  scripts/goal_sender.py
  scripts/object_detection_node.py
  scripts/goal_monitor_node.py
  scripts/generate_random_forest.py
  benchmarking/global_planner_benchmark_node.py
  benchmarking/time_allocation_benchmark_node.py
  benchmarking/dynamic_obstacle_benchmark_node.py
  benchmarking/yaw_optimization_benchmark_node.py
  benchmarking/single_agent_performance_node.py
  benchmarking/p_n_benchmarking_node.py
  # scripts/convert_goal_to_cmd_vel.py
  # scripts/convert_vicon_to_state.py
  # scripts/convert_odom_to_state.py
  DESTINATION lib/${PROJECT_NAME}
)

ament_package()