cmakeMain.txt

# SPDX-FileCopyrightText: NVIDIA CORPORATION & AFFILIATES
# Copyright (c) 2021-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# SPDX-License-Identifier: Apache-2.0

cmake_minimum_required(VERSION 3.10)

set(CMAKE_CUDA_COMPILER /usr/local/cuda-12.2/bin/nvcc)

project(collision LANGUAGES CXX CUDA)

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

# Default to release build
if(NOT CMAKE_BUILD_TYPE OR CMAKE_BUILD_TYPE STREQUAL "")
  set(CMAKE_BUILD_TYPE "Release" CACHE STRING "" FORCE)
endif()
message( STATUS "CMAKE_BUILD_TYPE: ${CMAKE_BUILD_TYPE}" )

# Setup dependencies. Note that will also setup cuda architecture flags in CMAKE_CUDA_ARCHITECTURES
find_package(ament_cmake_auto REQUIRED)
ament_auto_find_build_dependencies()

# Default behavior is to build for all supported CUDA architectures. In order to improve build
# speed we can select to build only for the native architecture by using
#    colcon build --cmake-args "-DUSE_NATIVE_CUDA_ARCHITECTURE=1"
# Then the core lib will determine the current cuda architecture for us.
if(DEFINED USE_NATIVE_CUDA_ARCHITECTURE)
  unset(CMAKE_CUDA_ARCHITECTURES)
  message(STATUS "nvblox_ros is built with native CUDA architectures.")
elseif(${CMAKE_SYSTEM_PROCESSOR} STREQUAL "aarch64")
  set(CMAKE_CUDA_ARCHITECTURES "87")
  message(STATUS "nvblox_ros is built for Jetson/Orin CUDA architecture: ${CMAKE_CUDA_ARCHITECTURES}")
else()
  message(STATUS "nvblox_ros is built for the following CUDA architectures: ${CMAKE_CUDA_ARCHITECTURES}")
endif()

# The core nvblox lib is built together with nvblox_ros
add_subdirectory(nvblox/nvblox)

################
# DEPENDENCIES #
################
find_package(ament_cmake REQUIRED)
find_package(ament_cmake_auto REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(libstatistics_collector REQUIRED)
find_package(message_filters REQUIRED)
find_package(Threads REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(CUDAToolkit REQUIRED)

##################
# COMPILER SETUP #
##################
include(nvblox/nvblox/cmake/setup_compilers.cmake)

#############
# EXECUTABLE #
#############
add_executable(collision_executable
  src/main.cpp
)
target_link_libraries(collision_executable
  nvblox_lib
  nvblox_eigen
  pthread
)
ament_target_dependencies(collision_executable
  rclcpp
  rclcpp_components
  sensor_msgs
  geometry_msgs
  std_msgs
  visualization_msgs
  std_srvs
  tf2_ros
  message_filters
  cv_bridge
  nav_msgs
)
target_include_directories(collision_executable PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>)
target_include_directories(collision_executable BEFORE PRIVATE
  $<TARGET_PROPERTY:nvblox_eigen,INTERFACE_INCLUDE_DIRECTORIES>)

# NOTE(alexmillane 14.02.2024): This is needed at the moment to find libgxf_isaac_optimizer.so
# See: https://nvidia.slack.com/archives/C023NB2F7SN/p1707529762925559.
# TODO(alexmillane): Move to a generic Isaac ROS-wide solution at some point.
set_target_properties(collision_executable PROPERTIES
  BUILD_WITH_INSTALL_RPATH TRUE
  BUILD_RPATH_USE_ORIGIN TRUE
  INSTALL_RPATH_USE_LINK_PATH TRUE)

if(CMAKE_VERSION VERSION_GREATER_EQUAL 3.18)
  get_target_property(CUDA_ARCHS nvblox_lib CUDA_ARCHITECTURES)
  set_property(TARGET collision_executable APPEND PROPERTY CUDA_ARCHITECTURES ${CUDA_ARCHS})
endif()

###########
# INSTALL #
###########
# Install includes.
install(
  DIRECTORY include/
  DESTINATION include
)

# Install the executable target.
install(
  TARGETS collision_executable
  DESTINATION bin
)

# Install tests
# install(DIRECTORY
#   test
#   DESTINATION share/${PROJECT_NAME}
# )

# install(DIRECTORY
#   scripts
#   DESTINATION share/${PROJECT_NAME}/scripts/
# )

##########
# EXPORT #
##########
# ament_export_include_directories(
#   include
# )
# ament_export_libraries(
#   collision_executable
# )
# ament_export_targets(
#   collision_executable
# )

# ament_export_dependencies(
#   nvblox
#   tf2_ros
#   message_filters
#   libstatistics_collector
#   visualization_msgs
#   cv_bridge
#   nav_msgs
#   # nvblox_ros_common
# )

ament_export_include_directories(
  include
)

ament_export_dependencies(
  nvblox
  tf2_ros
  message_filters
  libstatistics_collector
  visualization_msgs
  cv_bridge
  nav_msgs
)

ament_package()