cmake_minimum_required(VERSION 3.0.2)

project(rviz)

if (POLICY CMP0042)

cmake_policy(SET CMP0042 NEW)

endif()

if (POLICY CMP0054)

cmake_policy(SET CMP0054 NEW)

endif()

set(CMAKE_CXX_STANDARD 14)

set(CMAKE_CXX_STANDARD_REQUIRED ON)

set(CMAKE_CXX_EXTENSIONS OFF)

find_package(Boost REQUIRED

COMPONENTS

filesystem

program_options

system

thread

)

find_package(urdfdom_headers REQUIRED)

set(CMAKE_POLICY_DEFAULT_CMP0012 NEW) # required due to a bug in assimp 5.0

find_package(assimp REQUIRED)

if(NOT DEFINED ASSIMP_LIBRARIES AND TARGET assimp::assimp)

# ASSIMP >= 5.0 no longer defines ASSIMP_LIBRARIES

set(ASSIMP_LIBRARIES assimp::assimp)

endif()

find_package(OGRE QUIET COMPONENTS Overlay)

if(OGRE_FOUND)

if(${OGRE_VERSION} VERSION_LESS 1.11)

set(OGRE_INCLUDE_DIRS ${OGRE_INCLUDE_DIRS} ${OGRE_Overlay_INCLUDE_DIRS})

set(OGRE_LIBRARIES ${OGRE_LIBRARIES} ${OGRE_Overlay_LIBRARIES})

endif()

else()

# OGRE doesn't come with correctly installed cmake files on Linux. Use pkg-config instead.

# We need both, OGRE and OGRE-Overlay. Look for both simulatenously and use prefix X_

find_package(PkgConfig REQUIRED)

pkg_check_modules(X REQUIRED OGRE OGRE-Overlay)

# Set OGRE_* variables as cmake-based find_package would do

set(OGRE_VERSION ${X_OGRE_VERSION})

set(OGRE_INCLUDE_DIRS ${X_INCLUDE_DIRS})

message(STATUS "OGRE_INCLUDE_DIRS=${OGRE_INCLUDE_DIRS}")

# Find absolute path of OGRE libraries.

# This is stored in the cache to save time on cmake re-run.

# Using absolute paths is necessary if pkg-config finds Ogre in a different

# location than the default. This can happen when Ogre is built from source,

# or when 2 versions of Ogre are installed. Using absolute paths ensures that

# components that link against Ogre (rviz and any packages depending on rviz)

# all find the same Ogre shared library.

if(NOT DEFINED OGRE_LIBRARIES)

set(_OGRE_LIBRARIES)

foreach(_lib ${X_LIBRARIES})

set(_lib_tag "OGRE_RVIZ_${_lib}")

find_library(${_lib_tag}

NAMES ${_lib}

HINTS ${X_LIBRARY_DIRS}

PATHS ${X_LIBRARY_DIRS}

)

list(APPEND _OGRE_LIBRARIES ${${_lib_tag}})

endforeach(_lib)

set(OGRE_LIBRARIES ${_OGRE_LIBRARIES} CACHE STRING "Absolute paths to OGRE libs")

endif(NOT DEFINED OGRE_LIBRARIES)

message(STATUS "OGRE_LIBRARIES=${OGRE_LIBRARIES}")

## Fetch OGRE_PLUGIN_DIR variable from pkg-config

if(NOT DEFINED OGRE_PLUGIN_DIR)

execute_process(COMMAND

${PKG_CONFIG_EXECUTABLE} --variable=plugindir OGRE

OUTPUT_VARIABLE OGRE_PLUGIN_DIR

OUTPUT_STRIP_TRAILING_WHITESPACE

)

endif(NOT DEFINED OGRE_PLUGIN_DIR)

message(STATUS "OGRE_PLUGIN_DIR=${OGRE_PLUGIN_DIR}")

endif()

if(NOT OGRE_VERSION VERSION_LESS "1.10.0" AND NOT MSVC)

add_compile_options(-Wno-deprecated-declarations)

endif()

if(APPLE)

FIND_LIBRARY(Cocoa_LIBRARIES Cocoa)

set(rviz_ADDITIONAL_LIBRARIES ${Cocoa_LIBRARIES})

# This definition prevents an Apple header from defining a macro called "check", which if

# present, collides with another function in the rviz code. See:

# https://opensource.apple.com/source/CarbonHeaders/CarbonHeaders-18.1/AssertMacros.h

add_definitions(-D__ASSERT_MACROS_DEFINE_VERSIONS_WITHOUT_UNDERSCORES=0)

endif()

if (POLICY CMP0072)

cmake_policy(SET CMP0072 NEW)

endif()

find_package(OpenGL REQUIRED)

set(CMAKE_AUTOMOC ON)

find_package(Qt5 REQUIRED COMPONENTS Core Widgets OpenGL)

set(QT_LIBRARIES Qt5::Widgets)

set(QTVERSION ${Qt5Widgets_VERSION})

add_definitions(-DQT_NO_KEYWORDS)

find_package(catkin REQUIRED

COMPONENTS

cmake_modules

geometry_msgs

image_transport

interactive_markers

laser_geometry

map_msgs

message_filters

message_generation

nav_msgs

pluginlib

python_qt_binding

resource_retriever

rosconsole

roscpp

roslib

rospy

sensor_msgs

std_msgs

std_srvs

tf2_ros

tf2_geometry_msgs

urdf

visualization_msgs

)

find_package(PythonLibs "${PYTHON_VERSION_MAJOR}.${PYTHON_VERSION_MINOR}" REQUIRED)

find_package(Eigen3 QUIET)

if(NOT EIGEN3_FOUND)

#catkin_lint: ignore_once deprecated_cmake_module

find_package(Eigen REQUIRED)

set(EIGEN3_INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS})

set(EIGEN3_LIBRARIES ${EIGEN_LIBRARIES}) # Not strictly necessary as Eigen is head only

# Possibly map additional variables to the EIGEN3_ prefix.

else()

set(EIGEN3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})

endif()

find_package(TinyXML2 REQUIRED)

catkin_python_setup()

set(rviz_QT_VERSION ${QTVERSION})

set(rviz_DEFAULT_PLUGIN_LIBRARY_TARGET_NAME rviz_default_plugin)

add_service_files(

FILES

SendFilePath.srv

)

generate_messages(

DEPENDENCIES

std_msgs

)

set(EXPORT_HEADER_DIR "${CATKIN_DEVEL_PREFIX}/include")

file(MAKE_DIRECTORY "${EXPORT_HEADER_DIR}")

catkin_package(

CFG_EXTRAS

rviz-extras.cmake

INCLUDE_DIRS

src

${EXPORT_HEADER_DIR}

${EIGEN3_INCLUDE_DIRS}

${OGRE_INCLUDE_DIRS}

${OPENGL_INCLUDE_DIR}

LIBRARIES

rviz

${OGRE_LIBRARIES}

${rviz_ADDITIONAL_LIBRARIES}

${OPENGL_LIBRARIES}

CATKIN_DEPENDS

geometry_msgs

image_transport

interactive_markers

laser_geometry

map_msgs

message_filters

message_runtime

nav_msgs

pluginlib

resource_retriever

roscpp

roslib

sensor_msgs

std_msgs

std_srvs

tf2_ros

urdf

visualization_msgs

)

include_directories(src ${EXPORT_HEADER_DIR})

include_directories(SYSTEM

${EIGEN3_INCLUDE_DIRS}

${OGRE_INCLUDE_DIRS}

${OPENGL_INCLUDE_DIR}

${PYTHON_INCLUDE_PATH}

${TinyXML2_INCLUDE_DIRS}

${urdfdom_headers_INCLUDE_DIRS}

${ASSIMP_INCLUDE_DIRS}

${catkin_INCLUDE_DIRS}

)

add_subdirectory(src)

if(OGRE_VERSION VERSION_LESS "1.10")

set(EXCLUDE_PATTERN "ogre1.10.*")

else()

set(EXCLUDE_PATTERN "ogre1.9.*")

endif()

install(DIRECTORY ogre_media

DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

PATTERN "${EXCLUDE_PATTERN}" EXCLUDE

)

install(DIRECTORY icons

DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

)

install(DIRECTORY images

DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

)

install(FILES default.rviz

DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

)

install(FILES plugin_description.xml

DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}

)

install(FILES help/help.html

DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/help

)