mirror of
https://github.com/chengyangkj/Ros_Qt5_Gui_App.git
synced 2025-09-15 12:58:58 +08:00
110 lines
4.2 KiB
CMake
110 lines
4.2 KiB
CMake
cmake_minimum_required(VERSION 3.5)
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project(ros_qt5_gui_app)
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set(CMAKE_INCLUDE_CURRENT_DIR ON)
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set(CMAKE_C_STANDARD 99)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(QT_VERSION_MAJOR 5)
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#############子构建项目
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#dockWidget
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set(VERSION_SHORT "0.0.1")
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add_subdirectory(3rdpart/dockWidget)
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##################################1,编译平台设置:自动检查编译平台是ROS1还是ROS2#######################
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if(DEFINED ENV{ROS_VERSION} AND "$ENV{ROS_VERSION}" STREQUAL "1")
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message("USE ROS1")
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set(COMPILE_PLATFORM "ROS1")
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elseif(DEFINED ENV{ROS_VERSION} AND "$ENV{ROS_VERSION}" STREQUAL "2")
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message("USE ROS2")
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set(COMPILE_PLATFORM "ROS2")
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else()
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message(FATAL_ERROR "ros2 or ros2 not install or envirment not set!!!!!!!!!!!!!")
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endif()
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##或者在这里手动设置
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# set(COMPILE_PLATFORM "ROS1") #强制设置为ROS1
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# set(COMPILE_PLATFORM "ROS2") #强制设置为ROS2
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##################################2,查找依赖包:根据ROS1还是ROS2#######################
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# find dependencies
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if(COMPILE_PLATFORM STREQUAL "ROS1")
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message("ros1")
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add_definitions(-DROS1_NODE=1) #设置程序宏定义
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find_package(catkin REQUIRED COMPONENTS roscpp
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tf
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sensor_msgs
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cv_bridge
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std_msgs
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image_transport
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)
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elseif(COMPILE_PLATFORM STREQUAL "ROS2")
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message("ros2")
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add_definitions(-DROS2_NODE=1) #设置程序宏定义
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(tf2_kdl REQUIRED)
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find_package(sensor_msgs REQUIRED)
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endif()
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find_package(Boost REQUIRED COMPONENTS thread)
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find_package(Eigen3 REQUIRED)
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find_package(Qt5 COMPONENTS Widgets REQUIRED)
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##################################3,设置程序源文件路径#######################
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file(GLOB_RECURSE SOURCE_FILE RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS src/*.cpp src/*.cc)
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file(GLOB_RECURSE UI_FILE RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS ui/*.ui)
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file(GLOB_RECURSE QRC_FILE RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS resource/*.qrc)
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file(GLOB_RECURSE INCLUDE_FILE RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS include/*.h *.hpp)
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#################################4,不同平台，屏蔽不同源文件####################
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####设置ros1相关源文件
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file(GLOB_RECURSE ROS1_SOURCE_FILE RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS src/channel/ros1/*.cpp)
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file(GLOB_RECURSE ROS1_INCLUDE_FILE RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS include/channel/ros1/*.h)
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####设置ros2相关源文件
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file(GLOB_RECURSE ROS2_SOURCE_FILE RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS src/channel/ros2/*.cpp)
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file(GLOB_RECURSE ROS2_INCLUDE_FILE RELATIVE ${CMAKE_SOURCE_DIR} FOLLOW_SYMLINKS include/channel/ros2/*.h)
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#根据不同平台 屏蔽源文件
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if(COMPILE_PLATFORM STREQUAL "ROS2")
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list(REMOVE_ITEM SOURCE_FILE ${ROS1_SOURCE_FILE})
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list(REMOVE_ITEM INCLUDE_FILE ${ROS1_INCLUDE_FILE})
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elseif(COMPILE_PLATFORM STREQUAL "ROS1")
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message("use ros1 node")
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list(REMOVE_ITEM SOURCE_FILE ${ROS2_SOURCE_FILE})
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list(REMOVE_ITEM INCLUDE_FILE ${ROS2_INCLUDE_FILE})
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endif()
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####qt moc
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qt5_wrap_ui(QT_UI_HPP ${UI_FILE})
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qt5_wrap_cpp(QT_MOC_HPP ${INCLUDE_FILE})
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qt5_add_resources(QT_RESOUCE_HPP ${QRC_FILE})
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#项目包含的头文件路径
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include_directories(
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include/
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${CMAKE_CURRENT_BINARY_DIR}
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${catkin_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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)
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#向可执行程序添加源文件
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add_executable(${PROJECT_NAME}
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${SOURCE_FILE}
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${INCLUDE_FILE}
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${UI_FILE}
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${QT_MOC_HPP}
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${QT_RESOUCE_HPP}
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)
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#链接公共库
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target_link_libraries(${PROJECT_NAME} Qt5::Widgets ${catkin_LIBRARIES} qt${QT_VERSION_MAJOR}advanceddocking)
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#################################5,不同平台，链接不同库####################
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# 判断使用ros1 还是ros2
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if(COMPILE_PLATFORM STREQUAL "ROS2")
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ament_target_dependencies(${PROJECT_NAME} rclcpp Boost nav_msgs tf2 tf2_geometry_msgs tf2_ros sensor_msgs tf2_kdl)
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install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME})
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ament_package()
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elseif(COMPILE_PLATFORM STREQUAL "ROS1")
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message("use ros1 node")
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# catkin_package()
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install(TARGETS ${PROJECT_NAME} RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
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endif()
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