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fix cross compile #535

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fix cross compile #535

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69 changes: 45 additions & 24 deletions pcl_ros/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -23,27 +23,29 @@ find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
find_package(tf2_ros REQUIRED)

set(dependencies
pcl_conversions
rclcpp
sensor_msgs
geometry_msgs
tf2
tf2_geometry_msgs
tf2_ros
EIGEN3
PCL
)

## Declare the pcl_ros_tf library
add_library(pcl_ros_tf src/transforms.cpp)
target_include_directories(pcl_ros_tf PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)
ament_target_dependencies(pcl_ros_tf
${dependencies}
target_include_directories(pcl_ros_tf PRIVATE
${PCL_INCLUDE_DIRS}
${pcl_conversions_INCLUDE_DIRS}
${rclcpp_components_INCLUDE_DIRS}
)
target_link_libraries(pcl_ros_tf
${pcl_conversions_TARGETS}
${rclcpp_TARGETS}
${sensor_msgs_TARGETS}
${geometry_msgs_TARGETS}
${tf2_TARGETS}
${tf2_geometry_msgs_TARGETS}
${tf2_ros_TARGETS}
)
#ament_target_dependencies(pcl_ros_tf
# ${dependencies}
#)

### Nodelets
#
Expand Down Expand Up @@ -120,15 +122,34 @@ ament_target_dependencies(pcl_ros_tf
### Tools
#
add_library(pcd_to_pointcloud_lib SHARED tools/pcd_to_pointcloud.cpp)
target_include_directories(pcd_to_pointcloud_lib PRIVATE
${PCL_INCLUDE_DIRS}
${pcl_conversions_INCLUDE_DIRS}
${rclcpp_components_INCLUDE_DIRS}
)
target_link_libraries(pcd_to_pointcloud_lib
${PCL_LIBRARIES})
target_include_directories(pcd_to_pointcloud_lib PUBLIC
${PCL_INCLUDE_DIRS})
ament_target_dependencies(pcd_to_pointcloud_lib
rclcpp
rclcpp_components
sensor_msgs
pcl_conversions)
${pcl_conversions_TARGETS}
${rclcpp_TARGETS}
${sensor_msgs_TARGETS}
${geometry_msgs_TARGETS}
${tf2_TARGETS}
${tf2_geometry_msgs_TARGETS}
${tf2_ros_TARGETS}
pcl_common
pcl_io
pcl_filters
pcl_features
pcl_segmentation
pcl_surface
Eigen3::Eigen
)

set_target_properties(pcd_to_pointcloud_lib PROPERTIES
INTERFACE_LINK_DIRECTORIES ""
INTERFACE_INCLUDE_DIRECTORIES "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
INTERFACE_COMPILE_DEFINITIONS ""
)

rclcpp_components_register_node(pcd_to_pointcloud_lib
PLUGIN "pcl_ros::PCDPublisher"
EXECUTABLE pcd_to_pointcloud)
Expand Down Expand Up @@ -201,12 +222,12 @@ install(DIRECTORY plugins samples
DESTINATION share/${PROJECT_NAME})

# Export old-style CMake variables
ament_export_include_directories("include/${PROJECT_NAME}")
#ament_export_include_directories("include/${PROJECT_NAME}")
ament_export_libraries(pcl_ros_tf)

# Export modern CMake targets
ament_export_targets(export_pcl_ros HAS_LIBRARY_TARGET)

ament_export_dependencies(${dependencies})
#ament_export_dependencies(${dependencies})

ament_package()