CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(pgo)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
endif()

set(CMAKE_BUILD_TYPE Release)
set(CMAKE_CXX_STANDARD 20)

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(pcl_conversions REQUIRED)
find_package(message_filters REQUIRED)
find_package(PCL REQUIRED COMPONENTS common io)
find_package(Eigen3 REQUIRED)
find_package(GTSAM REQUIRED)
find_package(nano_gicp REQUIRED)
find_package(OpenMP REQUIRED)

add_executable(pgo src/pgo.cpp)

ament_target_dependencies(pgo
  rclcpp
  nav_msgs
  geometry_msgs
  tf2_ros
  tf2
  tf2_eigen
  visualization_msgs
  sensor_msgs
  pcl_conversions
  message_filters
  nano_gicp
)

target_include_directories(pgo PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
  ${PCL_INCLUDE_DIRS}
  ${GTSAM_INCLUDE_DIR}
  ${EIGEN3_INCLUDE_DIRS}
)

target_link_libraries(pgo
  ${PCL_LIBRARIES}
  gtsam
  Eigen3::Eigen
)

install(TARGETS pgo
  DESTINATION lib/${PROJECT_NAME}
)

ament_package()