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Attempt to fix ROS installation
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@Gonzalo-Mier
Gonzalo-Mier committed Aug 18, 2024
1 parent 5fcefcb commit 2a3ac13
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Showing 4 changed files with 185 additions and 255 deletions.
310 changes: 59 additions & 251 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,22 +1,13 @@

set(FIELDS2COVER_MAJOR_VERSION "2")
set(FIELDS2COVER_MINOR_VERSION "0")
set(FIELDS2COVER_PATCH_VERSION "0")
cmake_minimum_required(VERSION 3.12.4...3.22)

set(FIELDS2COVER_VERSION_STRING
"${FIELDS2COVER_MAJOR_VERSION}.${FIELDS2COVER_MINOR_VERSION}.${FIELDS2COVER_PATCH_VERSION}"
)
set(FIELDS2COVER_VERSION
${FIELDS2COVER_MAJOR_VERSION}.${FIELDS2COVER_MINOR_VERSION}.${FIELDS2COVER_PATCH_VERSION}
project(Fields2Cover
VERSION 2.0.0
DESCRIPTION "Fields2Cover is a complete coverage path planning package for autonomous robots"
HOMEPAGE_URL "http://fields2cover.github.io"
LANGUAGES CXX
)

set(PACKAGE_NAME "Fields2Cover")
set(PACKAGE_DESCRIPTION
"Fields2Cover is a complete coverage path planning package for autonomous robots"
)
set(PACKAGE_AUTHOR "Wageningen University")
set(PACKAGE_MAINTAINER "Gonzalo Mier")
set(PACKAGE_URL "http://fields2cover.github.io")


option(ALLOW_PARALLELIZATION "Allow parallel algorithms" ON)
Expand All @@ -29,17 +20,13 @@ option(USE_ORTOOLS_RELEASE "Get or-tools from release tarball" OFF)
option(USE_ORTOOLS_FETCH_SRC "Get or-tools from source" OFF)
option(USE_ORTOOLS_VENDOR "Get or-tools from ortools_vendor" OFF)

if (BUILD_PYTHON)
cmake_minimum_required(VERSION 3.12.4)
else(BUILD_PYTHON)
cmake_minimum_required(VERSION 3.11)
endif(BUILD_PYTHON)

if(${CMAKE_VERSION} VERSION_LESS 3.22)
cmake_policy(VERSION ${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION})
else(${CMAKE_VERSION} VERSION_LESS 3.22)
cmake_policy(VERSION 3.22)
endif(${CMAKE_VERSION} VERSION_LESS 3.22)
# Set C++ standard
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)



if(POLICY CMP0094)
cmake_policy(SET CMP0094 NEW)
Expand All @@ -48,208 +35,52 @@ if(POLICY CMP0135)
cmake_policy(SET CMP0135 NEW)
endif(POLICY CMP0135)

project(Fields2Cover
LANGUAGES CXX
VERSION "${FIELDS2COVER_VERSION_STRING}"
DESCRIPTION "${PACKAGE_DESCRIPTION}"
)

if(NOT CMAKE_BUILD_TYPE)
set(CMAKE_BUILD_TYPE Release)
# set(CMAKE_BUILD_TYPE Testing)
# set(CMAKE_BUILD_TYPE Debug)
endif(NOT CMAKE_BUILD_TYPE)

if (WIN32)
set(CMAKE_SHARED_LIBRARY_PREFIX "")
endif(WIN32)

include(GNUInstallDirs)

list(INSERT CMAKE_MODULE_PATH 0 "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules")
list(PREPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake/Modules")

include(FetchContent)
if(${CMAKE_VERSION} VERSION_LESS 3.14)
macro(FetchContent_MakeAvailable NAME)
FetchContent_GetProperties(${NAME})
if(NOT ${NAME}_POPULATED)
FetchContent_Populate(${NAME})
add_subdirectory(${${NAME}_SOURCE_DIR} ${${NAME}_BINARY_DIR})
endif(NOT ${NAME}_POPULATED)
endmacro(FetchContent_MakeAvailable)
endif(${CMAKE_VERSION} VERSION_LESS 3.14)

set(CMAKE_POSITION_INDEPENDENT_CODE ON)
FetchContent_Declare(steering_functions FETCHCONTENT_UPDATES_DISCONNECTED
GIT_REPOSITORY https://github.com/Fields2Cover/steering_functions.git
GIT_TAG 13e3f5658144b3832fb1eb31a0e2f5a3cbf57db9
)
FetchContent_Declare(matplot FETCHCONTENT_UPDATES_DISCONNECTED
GIT_REPOSITORY https://github.com/alandefreitas/matplotplusplus
)

FetchContent_Declare(json FETCHCONTENT_UPDATES_DISCONNECTED
URL https://github.com/nlohmann/json/releases/download/v3.11.3/json.tar.xz
)

FetchContent_MakeAvailable(
steering_functions
matplot
json
)

set(THREADS_PREFER_PTHREAD_FLAG ON)
# Dependencies
find_package(TinyXML2 REQUIRED)
find_package(Threads REQUIRED)
find_package(Gnuplot)
find_package(GDAL 3.0 REQUIRED)
find_package(Eigen3 REQUIRED)
find_library(MATH_LIBRARY m)

set(ORTOOLS_TARGET "")

if(USE_ORTOOLS_FETCH_SRC)
message(STATUS "or-tools -- Downloading and building from source")
set(BUILD_DEPS ON)
set(BUILD_SAMPLES OFF)
set(BUILD_EXAMPLES OFF)

FetchContent_Declare(ortools FETCHCONTENT_UPDATES_DISCONNECTED
GIT_REPOSITORY https://github.com/google/or-tools.git
GIT_TAG v9.9
CMAKE_ARGS
"-DCMAKE_CXX_FLAGS=${CMAKE_CXX_FLAGS}"
-DBUILD_DEPS:BOOL=ON
-DBUILD_SAMPLES:BOOL=OFF
-DBUILD_EXAMPLES:BOOL=OFF
)
FetchContent_MakeAvailable(ortools)

set_property(GLOBAL PROPERTY CTEST_TARGETS_ADDED 1)
include(CTest)
set(ORTOOLS_TARGET "ortools")
elseif(USE_ORTOOLS_VENDOR)
find_package(ortools_vendor REQUIRED)
elseif(NOT USE_ORTOOLS_RELEASE)
find_package(ortools_vendor QUIET)
find_package(ortools CONFIG QUIET)
endif()

if(USE_ORTOOLS_RELEASE OR (NOT ortools_FOUND))
message(STATUS "or-tools -- Downloading and installing from release tarball")
if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
message(STATUS "Target architecture is AMD64")
FetchContent_Declare(ortools FETCHCONTENT_UPDATES_DISCONNECTED
URL https://github.com/google/or-tools/releases/download/v9.9/or-tools_amd64_ubuntu-22.04_cpp_v9.9.3963.tar.gz
URL_HASH SHA256=a611133f4e9b75661c637347ebadff79539807cf8966eb9c176c2c560aad0a84
)
elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
message(STATUS "Target architecture is ARM64")
FetchContent_Declare(ortools FETCHCONTENT_UPDATES_DISCONNECTED
URL https://github.com/google/or-tools/releases/download/v9.9/or-tools_arm64_debian-11_cpp_v9.9.3963.tar.gz
URL_HASH SHA256=f308a06d89dce060f74e6fec4936b43f4bdf4874d18c131798697756200f4e7a
)
else()
message(FATAL_ERROR "Unknown/Unhandled target architecture: ${CMAKE_SYSTEM_PROCESSOR}")
endif()
#NOTE: FetchContent_GetProperties variables only available in called scope
FetchContent_GetProperties(ortools)
if(NOT ortools_POPULATED)
FetchContent_Populate(ortools)
endif()
list(INSERT CMAKE_PREFIX_PATH 0 "${ortools_SOURCE_DIR}")
find_package(ortools CONFIG REQUIRED)
if(NOT ortools_FOUND)
message(FATAL_ERROR "Failed to find ortools in release tarball")
endif()

#NOTE: in CMAKE 3.21 introduces IMPORTED_RUNTIME_ARTIFACTS
# https://cmake.org/cmake/help/v3.21/command/install.html#imported-runtime-artifacts
# Which would allow creation of an ortools target with IMPORTED_LOCATION
# and then install with IMPORTED_RUNTIME_ARTIFACTS
# Just brute force install the contents of the directories for now.
install(
DIRECTORY "${ortools_SOURCE_DIR}/"
DESTINATION opt/f2c_ortools/
)
endif(USE_ORTOOLS_RELEASE OR (NOT ortools_FOUND))
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
set(THREADS_PREFER_PTHREAD_FLAG ON)


include(cmake/F2CUtils.cmake)
f2c_declare_dependencies()

set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)

file(GLOB_RECURSE fields2cover_src
"${CMAKE_CURRENT_SOURCE_DIR}/src/*.cpp"
"${CMAKE_CURRENT_SOURCE_DIR}/src/*/*.cpp"
"${CMAKE_CURRENT_SOURCE_DIR}/src/*/*/*.cpp"
"${CMAKE_CURRENT_SOURCE_DIR}/src/*/*/*/*.cpp"
)

list(REMOVE_ITEM fields2cover_src
"${CMAKE_CURRENT_SOURCE_DIR}/.*"
"${CMAKE_CURRENT_SOURCE_DIR}/src/.*"
"${CMAKE_CURRENT_SOURCE_DIR}/src/*/.*"
"${CMAKE_CURRENT_SOURCE_DIR}/src/*/*/.*"
"${CMAKE_CURRENT_SOURCE_DIR}/src/*/*/*/.*.cpp"
)

if(BUILD_SHARED_LIBS)
add_library(Fields2Cover SHARED ${fields2cover_src})
else(BUILD_SHARED_LIBS)
add_library(Fields2Cover STATIC ${fields2cover_src})
endif(BUILD_SHARED_LIBS)
add_library(Fields2Cover ${fields2cover_src})

target_compile_features(Fields2Cover PUBLIC cxx_std_17)


if(${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU")
target_compile_options(Fields2Cover PRIVATE
-Wall -Wfatal-errors
-Wno-dev -Wextra -Wno-unused-parameter -Wno-sign-compare
-Wno-attributes -Wl,--no-undefined
)
elseif(${CMAKE_CXX_COMPILER_ID} STREQUAL "MSVC")
target_compile_options(Fields2Cover PRIVATE /W4)
elseif(${CMAKE_CXX_COMPILER_ID} MATCHES "^(Apple)?Clang$")

endif(${CMAKE_CXX_COMPILER_ID} STREQUAL "GNU")



if (CMAKE_BUILD_TYPE STREQUAL "Debug")
include(cmake/Modules/CodeCoverage.cmake)
APPEND_COVERAGE_COMPILER_FLAGS()
#if(NOT USE_ORTOOLS_FETCH_SRC)
# target_compile_options(Fields2Cover PRIVATE -pedantic -Werror)
#endif()
target_compile_options(Fields2Cover PRIVATE
-g --coverage -fprofile-arcs -ftest-coverage -fno-inline
)
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -lgcov")

if (CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
target_compile_options(Fields2Cover PRIVATE /O0)
else(NOT CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
target_compile_options(Fields2Cover PRIVATE -O0)
endif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")

else (NOT CMAKE_BUILD_TYPE STREQUAL "Debug")
if (${CMAKE_CXX_COMPILER_ID} STREQUAL "MSVC")
target_compile_options(Fields2Cover PRIVATE /O2)
else(${CMAKE_CXX_COMPILER_ID} STREQUAL "MSVC")
target_compile_options(Fields2Cover PRIVATE -O2)
endif(${CMAKE_CXX_COMPILER_ID} STREQUAL "MSVC")
endif(CMAKE_BUILD_TYPE STREQUAL "Debug")


target_include_directories(Fields2Cover PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
$<INSTALL_INTERFACE:include/fields2cover>
${EIGEN3_INCLUDE_DIRS}
target_include_directories(Fields2Cover
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>
PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}/src
)

target_link_libraries(Fields2Cover
PUBLIC
${GDAL_LIBRARIES}
GDAL::GDAL
${CMAKE_THREAD_LIBS_INIT}
-lgeos_c
${MATH_LIBRARY}
Expand All @@ -261,80 +92,57 @@ target_link_libraries(Fields2Cover
matplot
)


if(ALLOW_PARALLELIZATION)
target_link_libraries(Fields2Cover PRIVATE tbb)
endif(ALLOW_PARALLELIZATION)

set_target_properties(Fields2Cover
PROPERTIES INTERPROCEDURAL_OPTIMIZATION TRUE
PUBLIC_HEADER "include/fields2cover.h"
)

install(
TARGETS
Fields2Cover
steering_functions
matplot
${ORTOOLS_TARGET}
EXPORT Fields2Cover-targets
LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}"
ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}"
RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}"
PUBLIC_HEADER DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}"
)

#https://cmake.org/cmake/help/latest/guide/tutorial/Adding%20Export%20Configuration.html
include(CMakePackageConfigHelpers)
write_basic_package_version_file(Fields2CoverConfigVersion.cmake
VERSION ${PACKAGE_VERSION}
COMPATIBILITY AnyNewerVersion

# Compiler options
include(cmake/F2CCompilerOptions.cmake)
f2c_set_compiler_options(Fields2Cover)


include(GNUInstallDirs)
set(F2C_INSTALL_CMAKEDIR ${CMAKE_INSTALL_LIBDIR}/cmake/Fields2Cover)

install(TARGETS Fields2Cover steering_functions matplot
EXPORT Fields2CoverTargets
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
)

install(
EXPORT Fields2Cover-targets
FILE Fields2Cover-Targets.cmake
DESTINATION "lib/cmake/fields2cover"
install(DIRECTORY include/
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
)

# generate the config file that includes the exports
include(CMakePackageConfigHelpers)
configure_package_config_file(
${CMAKE_CURRENT_SOURCE_DIR}/cmake/Fields2CoverConfig.cmake.in
"${CMAKE_CURRENT_BINARY_DIR}/Fields2CoverConfig.cmake"
INSTALL_DESTINATION "lib/cmake/fields2cover"
NO_SET_AND_CHECK_MACRO
NO_CHECK_REQUIRED_COMPONENTS_MACRO
${CMAKE_CURRENT_BINARY_DIR}/Fields2CoverConfig.cmake
INSTALL_DESTINATION ${F2C_INSTALL_CMAKEDIR}
PATH_VARS CMAKE_INSTALL_INCLUDEDIR CMAKE_INSTALL_LIBDIR
)

write_basic_package_version_file(
"${CMAKE_CURRENT_BINARY_DIR}/Fields2CoverConfigVersion.cmake"
VERSION "${Tutorial_VERSION_MAJOR}.${Tutorial_VERSION_MINOR}"
COMPATIBILITY AnyNewerVersion
${CMAKE_CURRENT_BINARY_DIR}/Fields2CoverConfigVersion.cmake
VERSION ${PROJECT_VERSION}
COMPATIBILITY SameMajorVersion
)

install(FILES
${CMAKE_CURRENT_BINARY_DIR}/Fields2CoverConfig.cmake
${CMAKE_CURRENT_BINARY_DIR}/Fields2CoverConfigVersion.cmake
DESTINATION "lib/cmake/fields2cover"
)

install(
FILES ${CMAKE_CURRENT_SOURCE_DIR}/package.xml
DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/fields2cover
)

export(
TARGETS
Fields2Cover
steering_functions
matplot
${ORTOOLS_TARGET}
FILE
Fields2Cover-${type}-Targets.cmake
DESTINATION ${F2C_INSTALL_CMAKEDIR}
)

# Copy public headers during `make install`
install(
DIRECTORY include/
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/fields2cover
install(EXPORT Fields2CoverTargets
FILE Fields2CoverTargets.cmake
NAMESPACE Fields2Cover::
DESTINATION ${F2C_INSTALL_CMAKEDIR}
)


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