CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(inc_ndt_lins)

set(CMAKE_CXX_STANDARD 17)

set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY
    ${PROJECT_SOURCE_DIR}/lib/${CMAKE_BUILD_TYPE})
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY
    ${PROJECT_SOURCE_DIR}/lib/${CMAKE_BUILD_TYPE})
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY
    ${PROJECT_SOURCE_DIR}/bin/${CMAKE_BUILD_TYPE})

list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
add_subdirectory(${PROJECT_SOURCE_DIR}/thirdparty/livox_ros_driver2)
include_directories(
    ${CMAKE_BINARY_DIR}/thirdparty/livox_ros_driver2/rosidl_generator_cpp)
include_directories(${CMAKE_CURRENT_SOURCE_DIR}/include /usr/inlcude/eigen3)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(PCL REQUIRED)
find_package(Sophus REQUIRED)
find_package(G2O REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(rosbag2_cpp REQUIRED)
find_package(TBB REQUIRED)

file(GLOB SRC_FILES ${CMAKE_CURRENT_SOURCE_DIR}/src/*.cc)
add_library(inc_ndt_lins ${SRC_FILES})
target_link_libraries(
    inc_ndt_lins
    ${PCL_LIBRARIES}
    Sophus::Sophus
    g2o_core
    g2o_stuff
    livox_ros_driver2
    TBB::tbb)
set_target_properties(
    inc_ndt_lins PROPERTIES RUNTIME_LIBRARY_DIRS
                            ${PROJECT_SOURCE_DIR}/lib/${CMAKE_BUILD_TYPE})

ament_target_dependencies(inc_ndt_lins rclcpp sensor_msgs rosbag2_cpp)

add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/example)

if(BUILD_TESTING)
    find_package(ament_lint_auto REQUIRED)
    ament_lint_auto_find_test_dependencies()
endif()

ament_package()