CMakeLists.txt

cmake_minimum_required(VERSION 2.8.3)
project(hdl_localization)

if(CMAKE_SYSTEM_PROCESSOR
   MATCHES
   "aarch64"
)
  add_definitions(-std=c++11)
  set(CMAKE_CXX_FLAGS "-std=c++11")
else()
  # -mavx causes a lot of errors!!
  if("$ENV{ROS_DISTRO}"
     STRGREATER
     "melodic"
  )
    add_definitions(
      -std=c++17
      -msse
      -msse2
      -msse3
      -msse4
      -msse4.1
      -msse4.2
    )
    set(CMAKE_CXX_FLAGS "-std=c++17 -msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2")
  else()
    add_definitions(
      -std=c++11
      -msse
      -msse2
      -msse3
      -msse4
      -msse4.1
      -msse4.2
    )
    set(CMAKE_CXX_FLAGS "-std=c++11 -msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2")
  endif()
endif()

# pcl 1.7 causes a segfault when it is built with debug mode
set(CMAKE_BUILD_TYPE "RELEASE")

find_package(
  catkin REQUIRED
  COMPONENTS nodelet
             tf2
             tf2_ros
             tf2_eigen
             tf2_geometry_msgs
             eigen_conversions
             pcl_ros
             roscpp
             rospy
             sensor_msgs
             geometry_msgs
             message_generation
             ndt_omp
             fast_gicp
             hdl_global_localization
)

find_package(
  PCL
  1.7
  REQUIRED
)
include_directories(${PCL_INCLUDE_DIRS})
link_directories(${PCL_LIBRARY_DIRS})
add_definitions(${PCL_DEFINITIONS})

message(STATUS "PCL_INCLUDE_DIRS:" ${PCL_INCLUDE_DIRS})
message(STATUS "PCL_LIBRARY_DIRS:" ${PCL_LIBRARY_DIRS})
message(STATUS "PCL_DEFINITIONS:" ${PCL_DEFINITIONS})

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

########################
## message generation ##
########################
add_message_files(FILES ScanMatchingStatus.msg)
generate_messages(DEPENDENCIES std_msgs geometry_msgs)

###################################
## catkin specific configuration ##
###################################
catkin_package(
  INCLUDE_DIRS include
  #  LIBRARIES hdl_scan_matching_odometry
  #  CATKIN_DEPENDS pcl_ros roscpp sensor_msgs
  #  DEPENDS system_lib
)

###########
## Build ##
###########
include_directories(include)
include_directories(${catkin_INCLUDE_DIRS})

# nodelets
add_library(
  hdl_localization_nodelet
  src/hdl_localization/delta_estimator.cpp
  src/hdl_localization/pose_system.cpp
  src/hdl_localization/pose_estimator.cpp
  src/nodelet/hdl_localization_nodelet.cpp
)
target_link_libraries(
  hdl_localization_nodelet
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
)
add_dependencies(hdl_localization_nodelet ${PROJECT_NAME}_gencpp)

add_library(globalmap_server_nodelet src/nodelet/globalmap_server_nodelet.cpp)
target_link_libraries(
  globalmap_server_nodelet
  ${catkin_LIBRARIES}
  ${PCL_LIBRARIES}
)