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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(laser_filters)
##############################################################################
# Find dependencies
##############################################################################
find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()
##############################################################################
# Build
##############################################################################
if(${rclcpp_VERSION_MAJOR} GREATER_EQUAL 20)
add_compile_definitions(RCLCPP_SUPPORTS_MATCHED_CALLBACKS)
endif()
ament_auto_add_library(laser_scan_filters SHARED src/laser_scan_filters.cpp)
ament_auto_add_library(laser_filter_chains SHARED
src/scan_to_cloud_filter_chain.cpp
src/scan_to_scan_filter_chain.cpp)
# The rclcpp_components_register_node macro registers an rclcpp component for the node with
# the ament resource index AND creates a templated executable that spins the given node.
rclcpp_components_register_node(
laser_filter_chains
PLUGIN "ScanToCloudFilterChain"
EXECUTABLE "scan_to_cloud_filter_chain"
)
rclcpp_components_register_node(
laser_filter_chains
PLUGIN "ScanToScanFilterChain"
EXECUTABLE "scan_to_scan_filter_chain"
)
ament_auto_add_executable(generic_laser_filter_node src/generic_laser_filter_node.cpp)
##############################################################################
# Install
##############################################################################
pluginlib_export_plugin_description_file(filters laser_filters_plugins.xml)
ament_auto_package(INSTALL_TO_SHARE examples test)
##############################################################################
# Test
##############################################################################
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
set(TEST_NAME test_scan_filter_chain)
set(RESULT_FILENAME ${AMENT_TEST_RESULTS_DIR}/${PROJECT_NAME}/${TEST_NAME}.gtest.xml)
ament_add_gtest_executable(${TEST_NAME} test/${TEST_NAME}.cpp)
ament_target_dependencies(${TEST_NAME} filters pluginlib rclcpp sensor_msgs)
ament_add_test(
${TEST_NAME}
COMMAND
$<TARGET_FILE:${TEST_NAME}>
--ros-args --params-file ${PROJECT_SOURCE_DIR}/test/${TEST_NAME}.yaml
--gtest_output=xml:${RESULT_FILENAME}
RESULT_FILE ${RESULT_FILENAME}
)
set(TEST_NAME test_shadow_detector)
set(RESULT_FILENAME ${AMENT_TEST_RESULTS_DIR}/${PROJECT_NAME}/${TEST_NAME}.gtest.xml)
ament_add_gtest_executable(${TEST_NAME} test/${TEST_NAME}.cpp)
ament_target_dependencies(${TEST_NAME} angles)
target_link_libraries(${TEST_NAME} laser_scan_filters)
ament_add_test(
${TEST_NAME}
COMMAND
$<TARGET_FILE:${TEST_NAME}>
--ros-args
--gtest_output=xml:${RESULT_FILENAME}
RESULT_FILE ${RESULT_FILENAME}
)
set(TEST_NAME test_speckle_filter)
set(RESULT_FILENAME ${AMENT_TEST_RESULTS_DIR}/${PROJECT_NAME}/${TEST_NAME}.gtest.xml)
ament_add_gtest_executable(${TEST_NAME} test/${TEST_NAME}.cpp)
ament_target_dependencies(${TEST_NAME} angles)
target_link_libraries(${TEST_NAME} laser_scan_filters)
ament_add_test(
${TEST_NAME}
COMMAND
$<TARGET_FILE:${TEST_NAME}>
--ros-args
--gtest_output=xml:${RESULT_FILENAME}
RESULT_FILE ${RESULT_FILENAME}
)
set(TEST_NAME test_scan_shadows_filter)
set(RESULT_FILENAME ${AMENT_TEST_RESULTS_DIR}/${PROJECT_NAME}/${TEST_NAME}.gtest.xml)
ament_add_gtest_executable(${TEST_NAME} test/${TEST_NAME}.cpp)
ament_target_dependencies(${TEST_NAME} filters rclcpp sensor_msgs)
target_link_libraries(${TEST_NAME} laser_scan_filters)
ament_add_test(
${TEST_NAME}
COMMAND
$<TARGET_FILE:${TEST_NAME}>
--ros-args
--gtest_output=xml:${RESULT_FILENAME}
RESULT_FILE ${RESULT_FILENAME}
)
find_package(launch_testing_ament_cmake)
add_launch_test(test/test_polygon_filter.test.py)
add_launch_test(test/test_speckle_filter.test.py)
endif()