269 lines
7.4 KiB
CMake
269 lines
7.4 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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cmake_policy(SET CMP0048 NEW)
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project(hesai_ros_driver)
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#=======================================
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# Version information
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#=======================================
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set(VERSION_MAJOR 2)
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set(VERSION_MINOR 0)
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set(VERSION_TINY 5)
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configure_file(
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"${CMAKE_CURRENT_SOURCE_DIR}/Version.h.in"
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"${CMAKE_CURRENT_BINARY_DIR}/Version.h"
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)
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#=======================================
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# Custom Point Type (XYZI, XYZIRT)
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#=======================================
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set(POINT_TYPE XYZI)
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#=======================================
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# Compile setup (ORIGINAL, CATKIN, COLCON)
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#=======================================
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message(=============================================================)
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message("-- ROS_VERSION is $ENV{ROS_VERSION}")
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message(=============================================================)
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#========================
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# Project details / setup
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#========================
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set(PROJECT_NAME hesai_ros_driver)
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add_definitions(-DPROJECT_PATH="${PROJECT_SOURCE_DIR}")
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if (CMAKE_BUILD_TYPE STREQUAL "")
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set(CMAKE_BUILD_TYPE Release)
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add_definitions(-O3)
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endif()
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if($ENV{ROS_DISTRO} STREQUAL "humble") # the ros2 humble requires c++17
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add_definitions(-std=c++17)
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else()
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add_definitions(-std=c++14)
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endif()
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add_compile_options(-Wall)
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#========================
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# Dependencies Setup
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#========================
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#ROS#
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#Catkin#
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if($ENV{ROS_VERSION} MATCHES "1")
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find_package(roscpp 1.12 QUIET)
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find_package(roslib QUIET)
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include_directories(${roscpp_INCLUDE_DIRS} ${roslib_INCLUDE_DIRS})
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set(ROS_LIBS ${roscpp_LIBRARIES} ${roslib_LIBRARIES})
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add_definitions(-DROS_FOUND)
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add_definitions(-DRUN_IN_ROS_WORKSPACE)
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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sensor_msgs
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std_msgs
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message_generation
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roslib)
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add_message_files(
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FILES
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"UdpPacket.msg"
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"UdpFrame.msg"
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)
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generate_messages(
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DEPENDENCIES
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std_msgs
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)
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catkin_package(CATKIN_DEPENDS
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sensor_msgs
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roslib)
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endif($ENV{ROS_VERSION} MATCHES "1")
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#ROS2#
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if($ENV{ROS_VERSION} MATCHES "2")
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find_package(rclcpp QUIET)
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if(rclcpp_FOUND)
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message(=============================================================)
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message("-- ROS2 Found. ROS2 Support is turned On.")
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message(=============================================================)
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add_definitions(-DROS2_FOUND)
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include_directories(${rclcpp_INCLUDE_DIRS})
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set(CMAKE_CXX_STANDARD 14)
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find_package(ament_cmake REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(rclcpp_action REQUIRED)
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find_package(rosidl_typesupport_c REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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find_package(builtin_interfaces REQUIRED)
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find_package(std_msgs REQUIRED)
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/msg_ros2/UdpPacket.msg"
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"msg/msg_ros2/UdpFrame.msg"
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DEPENDENCIES builtin_interfaces std_msgs
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)
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ament_export_dependencies(rosidl_default_runtime)
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else(rclcpp_FOUND)
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message(=============================================================)
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message("-- ROS2 Not Found. ROS2 Support is turned Off.")
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message(=============================================================)
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endif(rclcpp_FOUND )
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endif($ENV{ROS_VERSION} MATCHES "2")
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#Others#
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find_package(yaml-cpp REQUIRED)
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#Include directory#
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include_directories(${PROJECT_SOURCE_DIR}/src)
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#Driver core#
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add_subdirectory(src/driver/HesaiLidar_SDK_2.0)
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#========================
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# Build Setup
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#========================
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# add_executable(hesai_ros_driver_node
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# node/hesai_ros_driver_node.cpp
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# src/manager/node_manager.cpp
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# )
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find_package(CUDA)
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if(OFF)
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# if(CUDA_FOUND)
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message(=============================================================)
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message("-- CUDA Found. CUDA Support is turned On.")
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message(=============================================================)
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link_directories($ENV{CUDA_PATH}/lib/x64)
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set(CUDA_NVCC_FLAGS "-arch=sm_75;-O2;-std=c++17")#根据具体GPU性能更改算力参数
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set(CMAKE_CUDA_FLAGS "${CMAKE_CUDA_FLAGS} -rdc=true")
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list(APPEND CUDA_NVCC_FLAGS -Xcompiler -fPIC)
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CUDA_ADD_EXECUTABLE(hesai_ros_driver_node
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node/hesai_ros_driver_node.cu
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src/manager/node_manager.cu
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./src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src/buffer.cu
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)
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set(CUDA_LIBS "${CUDA_TOOLKIT_ROOT_DIR}/lib64/libcudart.so")
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target_link_libraries(hesai_ros_driver_node
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${YAML_CPP_LIBRARIES}
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${Boost_LIBRARIES}
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source_lib
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container_lib
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ptcClient_lib
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ptcParser_lib
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log_lib
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${CUDA_LIBS}
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# libhesai
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)
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else(CUDA_FOUND)
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message(=============================================================)
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message("-- CUDA Not Found. CUDA Support is turned Off.")
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message(=============================================================)
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add_executable(hesai_ros_driver_node
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node/hesai_ros_driver_node.cc
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src/manager/node_manager.cc
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)
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target_link_libraries(hesai_ros_driver_node
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${YAML_CPP_LIBRARIES}
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${Boost_LIBRARIES}
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source_lib
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container_lib
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ptcClient_lib
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ptcParser_lib
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log_lib
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# libhesai
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)
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endif(CUDA_FOUND)
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target_include_directories(hesai_ros_driver_node PRIVATE
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src/driver/HesaiLidar_SDK_2.0/
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src/driver/HesaiLidar_SDK_2.0/libhesai
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src/driver/HesaiLidar_SDK_2.0/libhesai/Lidar
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src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser
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src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/include
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src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParser/src
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src/driver/HesaiLidar_SDK_2.0/libhesai/UdpProtocol
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src/driver/HesaiLidar_SDK_2.0/libhesai/Source/include
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src/driver/HesaiLidar_SDK_2.0/libhesai/Container/include
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src/driver/HesaiLidar_SDK_2.0/libhesai/Container/src
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src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu
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src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/include
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src/driver/HesaiLidar_SDK_2.0/libhesai/UdpParserGpu/src
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src/driver/HesaiLidar_SDK_2.0/libhesai/PtcClient/include
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src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser/include
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src/driver/HesaiLidar_SDK_2.0/libhesai/PtcParser
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src/driver/HesaiLidar_SDK_2.0/libhesai/Logger/include
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src/driver/HesaiLidar_SDK_2.0/libhesai/include
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src/driver/HesaiLidar_SDK_2.0/driver
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src/manager
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src/msg/ros_msg
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src/msg/rs_msg
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src/utility
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${CMAKE_CURRENT_BINARY_DIR}
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)
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#Ros#
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if($ENV{ROS_VERSION} MATCHES "1")
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target_link_libraries(hesai_ros_driver_node ${ROS_LIBS})
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install(TARGETS hesai_ros_driver_node
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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endif($ENV{ROS_VERSION} MATCHES "1")
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#Ros2#
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if($ENV{ROS_VERSION} MATCHES "2")
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find_package(ament_index_cpp REQUIRED)
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ament_target_dependencies(hesai_ros_driver_node
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"ament_index_cpp"
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"rcl_interfaces"
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"rclcpp"
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"rcutils"
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"std_msgs"
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"sensor_msgs"
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# "tf2_geometry_msgs"
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)
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rosidl_target_interfaces(hesai_ros_driver_node ${PROJECT_NAME} "rosidl_typesupport_cpp")
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install(TARGETS
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hesai_ros_driver_node
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DESTINATION lib/${PROJECT_NAME})
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install(DIRECTORY
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launch
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rviz
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DESTINATION share/${PROJECT_NAME})
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ament_package()
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endif($ENV{ROS_VERSION} MATCHES "2")
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