ltmap/CMakeLists.txt at main · USArmyResearchLab/ltmap · GitHub

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cmake_minimum_required(VERSION 3.8)
project(ltmap)
set(CMAKE_BUILD_TYPE RelWithDebInfo)

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()
add_compile_options(-std=c++17)

set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS ON CACHE INTERNAL "" FORCE)

add_definitions(-DEIGEN_MAKE_ALIGNED_OPERATION_NEW)
add_definitions(${PCL_DEFINITIONS})

#######################################
## Find dependencies
#######################################

find_package(ament_cmake REQUIRED)

find_package(CUDAToolkit REQUIRED)
message(STATUS "PyTorch NVTX headers workaround: Yes")
# only do this if nvToolsExt is not defined and CUDA::nvtx3 exists
if(NOT TARGET CUDA::nvToolsExt AND TARGET CUDA::nvtx3)
    add_library(CUDA::nvToolsExt INTERFACE IMPORTED)
    # ensure that PyTorch is told to use NVTX3 headers
    target_compile_definitions(
        CUDA::nvToolsExt INTERFACE
        TORCH_CUDA_USE_NVTX3
    )
    target_link_libraries(CUDA::nvToolsExt INTERFACE CUDA::nvtx3)
endif()

# exit without failing if we don't find a new enough version of libtorch
find_package(Torch QUIET PATHS /usr/local/lib/python3.12/dist-packages/torch)
if(NOT Torch_FOUND)
  message(WARNING "Torch not found - skipping ${PROJECT_NAME}")
  ament_package()
  return()
endif()
if(Torch_VERSION VERSION_LESS "2.7.0")
  message(WARNING "Torch ${Torch_VERSION} too old (need >= 2.7.0) - skipping ${PROJECT_NAME}")
  ament_package()
  return()
endif()

find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(grid_map_core REQUIRED)
find_package(grid_map_msgs REQUIRED)
find_package(grid_map_ros REQUIRED)
find_package(image_transport REQUIRED)
find_package(pcl_ros REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(OpenCV REQUIRED COMPONENTS opencv_core)
find_package(cv_bridge REQUIRED)

# [============ LIBTORCH LINKING =============]
# OPTION 1 - PREFERRED
# USE LIBTORCH FROM PREINSTALLED PYTORCH (>=2.7)
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS} -std=c++17 -Ofast -Wl,-rpath,/usr/local/lib/python3.12/dist-packages/torch/lib")

# OPTION 2 - Download libtorch into local dir using 'download_libtorch' script
#find_package(Torch REQUIRED PATHS libtorch NO_DEFAULT_PATH)
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${TORCH_CXX_FLAGS} -std=c++17 -Ofast -msse2 -Wl,-rpath,/phoenix/src/perception/ltmap/libtorch/lib")
# [============ LIBTORCH LINKING =============]

###########
## Build ##
###########

# srv
rosidl_generate_interfaces(${PROJECT_NAME}
  "srv/AddTarget.srv"
  )
rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")

# exec
add_executable(${PROJECT_NAME}_node
  src/ltmap.cpp
  src/ltmap_node.cpp
  src/ltmap_ingest.cpp
  src/ltmap_process.cpp
  src/ltmap_export.cpp
  src/ltmap_traindata.cpp
  src/ltmap_service.cpp
  )

include_directories(
  include
)

target_link_libraries(${PROJECT_NAME}_node
  "${cpp_typesupport_target}"
  ${TORCH_LIBRARIES}
  pthread
)

ament_target_dependencies(${PROJECT_NAME}_node
  ament_cmake
  rclcpp
  std_msgs
  sensor_msgs
  geometry_msgs
  nav_msgs
  visualization_msgs
  tf2_ros
  tf2_geometry_msgs
  grid_map_core
  grid_map_msgs
  grid_map_ros
  image_transport
  pcl_ros
  pcl_conversions
  OpenCV
  cv_bridge
)

install(TARGETS ${PROJECT_NAME}_node
  DESTINATION lib/${PROJECT_NAME}
)

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

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

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

install(
  DIRECTORY models
  DESTINATION share/${PROJECT_NAME}
  FILES_MATCHING PATTERN "*.pt"
)

ament_export_include_directories(include)
ament_export_dependencies(rosidl_default_runtime)
ament_package()