diff --git a/common/autoware_ad_api_msgs/CMakeLists.txt b/common/autoware_ad_api_msgs/CMakeLists.txt index 74f2196f189c0..8ea4fbd663595 100644 --- a/common/autoware_ad_api_msgs/CMakeLists.txt +++ b/common/autoware_ad_api_msgs/CMakeLists.txt @@ -1,8 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(autoware_ad_api_msgs) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() rosidl_generate_interfaces(${PROJECT_NAME} srv/InterfaceVersion.srv @@ -12,9 +12,4 @@ rosidl_generate_interfaces(${PROJECT_NAME} geometry_msgs ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package() diff --git a/common/autoware_auto_common/CMakeLists.txt b/common/autoware_auto_common/CMakeLists.txt index 99bdb5643009d..0c4666cc2d669 100644 --- a/common/autoware_auto_common/CMakeLists.txt +++ b/common/autoware_auto_common/CMakeLists.txt @@ -19,33 +19,13 @@ cmake_minimum_required(VERSION 3.5) ### Export headers project(autoware_auto_common) -## dependencies -find_package(ament_cmake_auto REQUIRED) -find_package(Eigen3 REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() +find_package(Eigen3 REQUIRED) include_directories(SYSTEM ${EIGEN3_INCLUDE_DIR}) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - - # Temporarily disable cpplint and uncrustify - list(APPEND AMENT_LINT_AUTO_EXCLUDE - ament_cmake_cpplint - ) - - ament_lint_auto_find_test_dependencies() - - file(GLOB_RECURSE FILES_MINUS_SOME - ${CMAKE_CURRENT_SOURCE_DIR}/include/* - ${CMAKE_CURRENT_SOURCE_DIR}/test/* - ) - - # Re-enable cpplint - find_package(ament_cmake_cpplint) - ament_cpplint(${FILES_MINUS_SOME}) - - # Unit tests set(TEST_COMMON test_common_gtest) ament_add_gtest(${TEST_COMMON} test/gtest_main.cpp @@ -68,5 +48,4 @@ if(BUILD_TESTING) ) endif() -# Ament Exporting ament_auto_package() diff --git a/common/autoware_auto_geometry/CMakeLists.txt b/common/autoware_auto_geometry/CMakeLists.txt index 306348f2a9b85..e0f252401cec7 100644 --- a/common/autoware_auto_geometry/CMakeLists.txt +++ b/common/autoware_auto_geometry/CMakeLists.txt @@ -18,11 +18,9 @@ cmake_minimum_required(VERSION 3.5) ### Export headers project(autoware_auto_geometry) -## dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() -# includes ament_auto_add_library(${PROJECT_NAME} SHARED include/geometry/spatial_hash.hpp include/geometry/intersection.hpp @@ -38,10 +36,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) endif() if(BUILD_TESTING) - # run linters - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - # gtest set(GEOMETRY_GTEST geometry_gtest) set(GEOMETRY_SRC test/src/test_geometry.cpp test/src/test_convex_hull.cpp @@ -65,5 +59,4 @@ if(BUILD_TESTING) target_link_libraries(${GEOMETRY_GTEST} ${PROJECT_NAME}) endif() -# Ament Exporting ament_auto_package() diff --git a/common/autoware_auto_perception_rviz_plugin/CMakeLists.txt b/common/autoware_auto_perception_rviz_plugin/CMakeLists.txt index a02a01e0a9145..565d807eaa6d0 100644 --- a/common/autoware_auto_perception_rviz_plugin/CMakeLists.txt +++ b/common/autoware_auto_perception_rviz_plugin/CMakeLists.txt @@ -17,10 +17,8 @@ cmake_minimum_required(VERSION 3.5) project(autoware_auto_perception_rviz_plugin) -#dependencies -find_package(ament_cmake_auto REQUIRED) -find_package(Qt5 REQUIRED COMPONENTS Widgets) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() set(OD_PLUGIN_LIB_SRC src/object_detection/detected_objects_display.cpp @@ -72,12 +70,6 @@ target_compile_definitions(${PROJECT_NAME} PRIVATE "OBJECT_DETECTION_PLUGINS_BUI # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins_description.xml) -if(BUILD_TESTING) - # run linters - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/autoware_auto_tf2/CMakeLists.txt b/common/autoware_auto_tf2/CMakeLists.txt index 0cc518be2d3db..709402b45130e 100755 --- a/common/autoware_auto_tf2/CMakeLists.txt +++ b/common/autoware_auto_tf2/CMakeLists.txt @@ -16,18 +16,10 @@ cmake_minimum_required(VERSION 3.5) ### Export headers project(autoware_auto_tf2) -## dependencies -find_package(ament_cmake REQUIRED) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() - -### Test if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # Linters - ament_lint_auto_find_test_dependencies() - # Unit test ament_add_gtest(test_tf2_autoware_auto_msgs test/test_tf2_autoware_auto_msgs.cpp) # workaround to allow deprecated header to build on both galactic and rolling if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) diff --git a/common/autoware_point_types/CMakeLists.txt b/common/autoware_point_types/CMakeLists.txt index 40d450f4548ce..b498153a65301 100644 --- a/common/autoware_point_types/CMakeLists.txt +++ b/common/autoware_point_types/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(autoware_point_types) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() include_directories( include @@ -21,11 +11,6 @@ include_directories( ) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - - find_package(ament_cmake_gtest REQUIRED) - ament_add_gtest(test_autoware_point_types test/test_point_types.cpp ) diff --git a/common/autoware_testing/CMakeLists.txt b/common/autoware_testing/CMakeLists.txt index 55270a3738829..d8c017f6351c7 100644 --- a/common/autoware_testing/CMakeLists.txt +++ b/common/autoware_testing/CMakeLists.txt @@ -13,21 +13,15 @@ # limitations under the License. cmake_minimum_required(VERSION 3.5) - project(autoware_testing) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - +find_package(autoware_cmake REQUIRED) +autoware_package() list(APPEND ${PROJECT_NAME}_CONFIG_EXTRAS "autoware_testing-extras.cmake" ) -if(BUILD_TESTING) - ament_lint_cmake(${CMAKE_CURRENT_SOURCE_DIR}) -endif() - ament_auto_package( INSTALL_TO_SHARE cmake autoware_testing ) diff --git a/common/component_interface_utils/CMakeLists.txt b/common/component_interface_utils/CMakeLists.txt index ba32ad10851d5..5134b2f7cf3c2 100644 --- a/common/component_interface_utils/CMakeLists.txt +++ b/common/component_interface_utils/CMakeLists.txt @@ -1,22 +1,7 @@ cmake_minimum_required(VERSION 3.8) project(component_interface_utils) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package() diff --git a/common/fake_test_node/CMakeLists.txt b/common/fake_test_node/CMakeLists.txt index 6fa156aee49a6..171bf5b9a36d8 100644 --- a/common/fake_test_node/CMakeLists.txt +++ b/common/fake_test_node/CMakeLists.txt @@ -17,18 +17,12 @@ cmake_minimum_required(VERSION 3.5) project(fake_test_node) -find_package(ament_cmake_auto REQUIRED) - -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(fake_test_node SHARED src/fake_test_node.cpp) -## Testing if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - - find_package(ament_cmake_gtest REQUIRED) ament_add_gtest(test_fake_test_node test/test_fake_test_node.cpp ) diff --git a/common/global_parameter_loader/CMakeLists.txt b/common/global_parameter_loader/CMakeLists.txt index 06ab9ac22158f..468b60919b668 100644 --- a/common/global_parameter_loader/CMakeLists.txt +++ b/common/global_parameter_loader/CMakeLists.txt @@ -1,13 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(global_parameter_loader) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package( INSTALL_TO_SHARE diff --git a/common/goal_distance_calculator/CMakeLists.txt b/common/goal_distance_calculator/CMakeLists.txt index 4d188e6772e45..a7999e8f5f5c6 100644 --- a/common/goal_distance_calculator/CMakeLists.txt +++ b/common/goal_distance_calculator/CMakeLists.txt @@ -1,14 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(goal_distance_calculator) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(goal_distance_calculator SHARED src/goal_distance_calculator_node.cpp @@ -27,11 +21,6 @@ rclcpp_components_register_node(goal_distance_calculator EXECUTABLE goal_distance_calculator_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/common/had_map_utils/CMakeLists.txt b/common/had_map_utils/CMakeLists.txt index 6abfe94a38b44..2528f2106892c 100644 --- a/common/had_map_utils/CMakeLists.txt +++ b/common/had_map_utils/CMakeLists.txt @@ -5,18 +5,11 @@ cmake_minimum_required(VERSION 3.5) ### Export headers project(had_map_utils) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) find_package(CGAL REQUIRED COMPONENTS Core) find_package(Eigen3 REQUIRED) -ament_auto_find_build_dependencies() ament_auto_add_library(${PROJECT_NAME} SHARED src/had_map_utils.cpp @@ -38,9 +31,4 @@ target_include_directories(${PROJECT_NAME} SYSTEM PUBLIC set(CGAL_DO_NOT_WARN_ABOUT_CMAKE_BUILD_TYPE TRUE) target_link_libraries(${PROJECT_NAME} CGAL CGAL::CGAL CGAL::CGAL_Core) -# if(BUILD_TESTING) -# find_package(ament_lint_auto REQUIRED) -# ament_lint_auto_find_test_dependencies() -# endif() - ament_auto_package() diff --git a/common/interpolation/CMakeLists.txt b/common/interpolation/CMakeLists.txt index 6cec2a295d1fc..d8de3da7c87a4 100644 --- a/common/interpolation/CMakeLists.txt +++ b/common/interpolation/CMakeLists.txt @@ -1,16 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(interpolation) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(interpolation SHARED src/linear_interpolation.cpp @@ -25,13 +17,7 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -# Test if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - - find_package(ament_cmake_gtest REQUIRED) - file(GLOB_RECURSE test_files test/**/*.cpp) ament_add_gtest(test_interpolation ${test_files}) diff --git a/common/interpolation/package.xml b/common/interpolation/package.xml index 3a04c75a89bf5..213616b007a19 100644 --- a/common/interpolation/package.xml +++ b/common/interpolation/package.xml @@ -14,6 +14,7 @@ tier4_autoware_utils + ament_cmake_gtest ament_lint_auto autoware_lint_common diff --git a/common/kalman_filter/CMakeLists.txt b/common/kalman_filter/CMakeLists.txt index 4419e3d7761eb..6ea1c9f9205c9 100644 --- a/common/kalman_filter/CMakeLists.txt +++ b/common/kalman_filter/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(kalman_filter) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) @@ -23,9 +14,4 @@ ament_auto_add_library(kalman_filter SHARED include/kalman_filter/time_delay_kalman_filter.hpp ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package() diff --git a/common/motion_common/CMakeLists.txt b/common/motion_common/CMakeLists.txt index a8926cb417325..4a21808559dca 100644 --- a/common/motion_common/CMakeLists.txt +++ b/common/motion_common/CMakeLists.txt @@ -1,13 +1,11 @@ cmake_minimum_required(VERSION 3.6) - project(motion_common) -### Dependencies -find_package(ament_cmake_auto REQUIRED) +find_package(autoware_cmake REQUIRED) +autoware_package() + find_package(Eigen3 REQUIRED) -ament_auto_find_build_dependencies() -# Build library ament_auto_add_library(${PROJECT_NAME} SHARED src/motion_common/config.cpp src/motion_common/motion_common.cpp @@ -21,9 +19,7 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -### Test if(BUILD_TESTING) - # Linters find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() diff --git a/common/motion_testing/CMakeLists.txt b/common/motion_testing/CMakeLists.txt index ac8cc14c79aba..0cb936271a478 100644 --- a/common/motion_testing/CMakeLists.txt +++ b/common/motion_testing/CMakeLists.txt @@ -1,12 +1,9 @@ cmake_minimum_required(VERSION 3.6) - project(motion_testing) -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() -### Build ament_auto_add_library(${PROJECT_NAME} SHARED src/motion_testing/motion_testing.cpp) # workaround to allow deprecated header to build on both galactic and rolling @@ -16,12 +13,7 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -### Test if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # Linters - ament_lint_auto_find_test_dependencies() - # Unit test ament_add_gtest(motion_testing_unit_tests test/gtest_main.cpp test/constant_trajectory.cpp diff --git a/common/osqp_interface/CMakeLists.txt b/common/osqp_interface/CMakeLists.txt index c069530add100..05313d80235d8 100644 --- a/common/osqp_interface/CMakeLists.txt +++ b/common/osqp_interface/CMakeLists.txt @@ -16,14 +16,10 @@ cmake_minimum_required(VERSION 3.5) project(osqp_interface) -# require that dependencies from package.xml be available -find_package(ament_cmake_auto REQUIRED) -find_package(Eigen3 REQUIRED) +find_package(autoware_cmake REQUIRED) +autoware_package() -ament_auto_find_build_dependencies(REQUIRED - ${${PROJECT_NAME}_BUILD_DEPENDS} - ${${PROJECT_NAME}_BUILDTOOL_DEPENDS} -) +find_package(Eigen3 REQUIRED) # after find_package(osqp_vendor) in ament_auto_find_build_dependencies find_package(osqp REQUIRED) @@ -41,7 +37,6 @@ set(OSQP_INTERFACE_LIB_HEADERS include/osqp_interface/visibility_control.hpp ) -# generate library ament_auto_add_library(${PROJECT_NAME} SHARED ${OSQP_INTERFACE_LIB_SRC} ${OSQP_INTERFACE_LIB_HEADERS} @@ -63,12 +58,7 @@ ament_export_include_directories("${OSQP_INCLUDE_DIR}") # crucial so the linking order is correct in a downstream package: libosqp_interface.a should come before libosqp.a ament_export_libraries(osqp::osqp) -# Testing if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - - # Unit tests set(TEST_SOURCES test/test_osqp_interface.cpp test/test_csc_matrix_conv.cpp @@ -78,6 +68,5 @@ if(BUILD_TESTING) target_link_libraries(${TEST_OSQP_INTERFACE_EXE} ${PROJECT_NAME}) endif() -# ament package generation and installing ament_auto_package(INSTALL_TO_SHARE ) diff --git a/common/path_distance_calculator/CMakeLists.txt b/common/path_distance_calculator/CMakeLists.txt index 665e92f641597..8d1718043c6c5 100644 --- a/common/path_distance_calculator/CMakeLists.txt +++ b/common/path_distance_calculator/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(path_distance_calculator) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(${PROJECT_NAME} SHARED src/path_distance_calculator.cpp @@ -30,9 +20,4 @@ rclcpp_components_register_node(${PROJECT_NAME} EXECUTABLE ${PROJECT_NAME}_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/common/polar_grid/CMakeLists.txt b/common/polar_grid/CMakeLists.txt index 8d9b69fe0e8c1..d0ec524a18388 100644 --- a/common/polar_grid/CMakeLists.txt +++ b/common/polar_grid/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(polar_grid) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -37,11 +28,6 @@ install(TARGETS pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/signal_processing/CMakeLists.txt b/common/signal_processing/CMakeLists.txt index 563bb7d365af5..072b55dfab4cb 100644 --- a/common/signal_processing/CMakeLists.txt +++ b/common/signal_processing/CMakeLists.txt @@ -1,25 +1,14 @@ cmake_minimum_required(VERSION 3.5) project(signal_processing) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(lowpass_filter_1d SHARED src/lowpass_filter_1d.cpp ) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() ament_add_gtest(test_signal_processing test/src/lowpass_filter_1d_test.cpp ) diff --git a/common/tier4_api_utils/CMakeLists.txt b/common/tier4_api_utils/CMakeLists.txt index 1beed4368d313..ac89ae4c275d5 100644 --- a/common/tier4_api_utils/CMakeLists.txt +++ b/common/tier4_api_utils/CMakeLists.txt @@ -1,24 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(tier4_api_utils) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - find_package(ament_cmake_gtest REQUIRED) include_directories(include) - ament_lint_auto_find_test_dependencies() ament_add_gtest(${PROJECT_NAME}_test test/test.cpp) ament_target_dependencies(${PROJECT_NAME}_test rclcpp tier4_external_api_msgs) endif() diff --git a/common/tier4_autoware_utils/CMakeLists.txt b/common/tier4_autoware_utils/CMakeLists.txt index 62b2bb6bc1b20..3b01501271c61 100644 --- a/common/tier4_autoware_utils/CMakeLists.txt +++ b/common/tier4_autoware_utils/CMakeLists.txt @@ -1,16 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_autoware_utils) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Boost REQUIRED) @@ -26,11 +18,7 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -# Test if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - find_package(ament_cmake_gtest REQUIRED) file(GLOB_RECURSE test_files test/**/*.cpp) diff --git a/common/tier4_calibration_rviz_plugin/CMakeLists.txt b/common/tier4_calibration_rviz_plugin/CMakeLists.txt index 5354c44a434c0..eff818e7dbca7 100644 --- a/common/tier4_calibration_rviz_plugin/CMakeLists.txt +++ b/common/tier4_calibration_rviz_plugin/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_calibration_rviz_plugin) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -30,11 +21,6 @@ target_link_libraries(${PROJECT_NAME} # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE plugins diff --git a/common/tier4_datetime_rviz_plugin/CMakeLists.txt b/common/tier4_datetime_rviz_plugin/CMakeLists.txt index b35caa4d5a2cb..3c8a097ca768e 100644 --- a/common/tier4_datetime_rviz_plugin/CMakeLists.txt +++ b/common/tier4_datetime_rviz_plugin/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_datetime_rviz_plugin) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -28,11 +19,6 @@ target_link_libraries(${PROJECT_NAME} ) pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/tier4_debug_tools/CMakeLists.txt b/common/tier4_debug_tools/CMakeLists.txt index 13127581a044c..ea0a672fc1399 100644 --- a/common/tier4_debug_tools/CMakeLists.txt +++ b/common/tier4_debug_tools/CMakeLists.txt @@ -1,22 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(tier4_debug_tools) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Eigen3 REQUIRED) -#ament_python_install_package(${PROJECT_NAME} PACKAGE_DIR "scripts/") - ament_auto_add_library(lateral_error_publisher SHARED src/lateral_error_publisher.cpp ) @@ -33,11 +22,6 @@ rclcpp_components_register_node(lateral_error_publisher EXECUTABLE lateral_error_publisher_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE config diff --git a/common/tier4_localization_rviz_plugin/CMakeLists.txt b/common/tier4_localization_rviz_plugin/CMakeLists.txt index eb3b1605c7ca6..be8d3c45c56c0 100644 --- a/common/tier4_localization_rviz_plugin/CMakeLists.txt +++ b/common/tier4_localization_rviz_plugin/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_localization_rviz_plugin) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -31,11 +22,6 @@ target_link_libraries(${PROJECT_NAME} # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/tier4_perception_rviz_plugin/CMakeLists.txt b/common/tier4_perception_rviz_plugin/CMakeLists.txt index a4a058655ea14..c77e9b815cb81 100644 --- a/common/tier4_perception_rviz_plugin/CMakeLists.txt +++ b/common/tier4_perception_rviz_plugin/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_perception_rviz_plugin) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -42,11 +33,6 @@ endif() # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/tier4_planning_rviz_plugin/CMakeLists.txt b/common/tier4_planning_rviz_plugin/CMakeLists.txt index 3050f9e1904f1..4e056665c5adb 100644 --- a/common/tier4_planning_rviz_plugin/CMakeLists.txt +++ b/common/tier4_planning_rviz_plugin/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_planning_rviz_plugin) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -55,11 +46,6 @@ endif() # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/tier4_simulated_clock_rviz_plugin/CMakeLists.txt b/common/tier4_simulated_clock_rviz_plugin/CMakeLists.txt index 6418b77a661a4..a646d4e292213 100644 --- a/common/tier4_simulated_clock_rviz_plugin/CMakeLists.txt +++ b/common/tier4_simulated_clock_rviz_plugin/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_simulated_clock_rviz_plugin) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -30,11 +21,6 @@ target_link_libraries(${PROJECT_NAME} # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/tier4_state_rviz_plugin/CMakeLists.txt b/common/tier4_state_rviz_plugin/CMakeLists.txt index a2cf6b29e5cd4..fbf2c50106bb3 100644 --- a/common/tier4_state_rviz_plugin/CMakeLists.txt +++ b/common/tier4_state_rviz_plugin/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_state_rviz_plugin) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -30,11 +21,6 @@ target_link_libraries(${PROJECT_NAME} # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/tier4_traffic_light_rviz_plugin/CMakeLists.txt b/common/tier4_traffic_light_rviz_plugin/CMakeLists.txt index a9e6d1c3f8085..d95848928ffa2 100644 --- a/common/tier4_traffic_light_rviz_plugin/CMakeLists.txt +++ b/common/tier4_traffic_light_rviz_plugin/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_traffic_light_rviz_plugin) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -30,11 +21,6 @@ target_link_libraries(${PROJECT_NAME} # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/tier4_vehicle_rviz_plugin/CMakeLists.txt b/common/tier4_vehicle_rviz_plugin/CMakeLists.txt index 1458165711aad..6d49d5144f1f7 100644 --- a/common/tier4_vehicle_rviz_plugin/CMakeLists.txt +++ b/common/tier4_vehicle_rviz_plugin/CMakeLists.txt @@ -1,15 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_vehicle_rviz_plugin) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -50,11 +43,6 @@ endif() # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE icons diff --git a/common/time_utils/CMakeLists.txt b/common/time_utils/CMakeLists.txt index 7bd1b08331f98..80d59a39762f6 100644 --- a/common/time_utils/CMakeLists.txt +++ b/common/time_utils/CMakeLists.txt @@ -1,20 +1,9 @@ cmake_minimum_required(VERSION 3.6) - project(time_utils) -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() -### Build ament_auto_add_library(${PROJECT_NAME} SHARED src/time_utils/time_utils.cpp) -### Test -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - # Linters - ament_lint_auto_find_test_dependencies() - # TODO(c.ho) unit tests -endif() - ament_auto_package() diff --git a/common/vehicle_constants_manager/CMakeLists.txt b/common/vehicle_constants_manager/CMakeLists.txt index 4a14b116f5643..0fd5b081b671d 100644 --- a/common/vehicle_constants_manager/CMakeLists.txt +++ b/common/vehicle_constants_manager/CMakeLists.txt @@ -16,9 +16,8 @@ cmake_minimum_required(VERSION 3.5) project(vehicle_constants_manager) -# require that dependencies from package.xml be available -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() set(VEHICLE_CONSTANTS_MANAGER_LIB_SRC src/vehicle_constants_manager.cpp) @@ -27,22 +26,15 @@ set(VEHICLE_CONSTANTS_MANAGER_LIB_HEADERS include/vehicle_constants_manager/vehicle_constants_manager.hpp include/vehicle_constants_manager/visibility_control.hpp) -# generate library ament_auto_add_library(${PROJECT_NAME} SHARED ${VEHICLE_CONSTANTS_MANAGER_LIB_SRC} ${VEHICLE_CONSTANTS_MANAGER_LIB_HEADERS}) -# Testing # if(BUILD_TESTING) -# find_package(ament_lint_auto REQUIRED) -# ament_lint_auto_find_test_dependencies() - -# # Unit tests # set(TEST_SOURCES test/test_vehicle_constants_manager.cpp) # set(TEST_VEHICLE_CONSTANTS_MANAGER_EXE test_vehicle_constants_manager) # ament_add_gtest(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE} ${TEST_SOURCES}) # target_link_libraries(${TEST_VEHICLE_CONSTANTS_MANAGER_EXE} ${PROJECT_NAME}) # endif() -# ament package generation and installing ament_auto_package(INSTALL_TO_SHARE) diff --git a/common/web_controller/CMakeLists.txt b/common/web_controller/CMakeLists.txt index 7ffdcb57798e6..e0014c14daa44 100644 --- a/common/web_controller/CMakeLists.txt +++ b/common/web_controller/CMakeLists.txt @@ -1,7 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(web_controller) -find_package(ament_cmake REQUIRED) +find_package(autoware_cmake REQUIRED) +autoware_package() install(DIRECTORY launch diff --git a/control/control_performance_analysis/CMakeLists.txt b/control/control_performance_analysis/CMakeLists.txt index a5c9e74a0bff9..996a7f41be6e6 100644 --- a/control/control_performance_analysis/CMakeLists.txt +++ b/control/control_performance_analysis/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(control_performance_analysis) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Boost REQUIRED) @@ -60,11 +50,6 @@ rclcpp_components_register_node(control_performance_analysis_node EXECUTABLE control_performance_analysis ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/control/external_cmd_selector/CMakeLists.txt b/control/external_cmd_selector/CMakeLists.txt index c195671489fcc..f0c7e77c69aa1 100644 --- a/control/external_cmd_selector/CMakeLists.txt +++ b/control/external_cmd_selector/CMakeLists.txt @@ -1,19 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(external_cmd_selector) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(external_cmd_selector_node SHARED src/external_cmd_selector/external_cmd_selector_node.cpp @@ -24,11 +13,6 @@ rclcpp_components_register_node(external_cmd_selector_node EXECUTABLE external_cmd_selector ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/control/joy_controller/CMakeLists.txt b/control/joy_controller/CMakeLists.txt index 841c18d11c804..1fa2f13b0f995 100644 --- a/control/joy_controller/CMakeLists.txt +++ b/control/joy_controller/CMakeLists.txt @@ -1,15 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(joy_controller) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(joy_controller_node SHARED src/joy_controller/joy_controller_node.cpp @@ -20,11 +13,6 @@ rclcpp_components_register_node(joy_controller_node EXECUTABLE joy_controller ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/control/lane_departure_checker/CMakeLists.txt b/control/lane_departure_checker/CMakeLists.txt index a40f0b4a9ae4e..1078912ef99c9 100644 --- a/control/lane_departure_checker/CMakeLists.txt +++ b/control/lane_departure_checker/CMakeLists.txt @@ -1,19 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(lane_departure_checker) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - +find_package(autoware_cmake REQUIRED) +autoware_package() include_directories( include @@ -21,8 +10,6 @@ include_directories( ${EIGEN3_INCLUDE_DIRS} ) -# Target -## lane_departure_checker_node ament_auto_add_library(lane_departure_checker SHARED src/lane_departure_checker_node/lane_departure_checker.cpp src/lane_departure_checker_node/lane_departure_checker_node.cpp @@ -40,11 +27,6 @@ rclcpp_components_register_node(lane_departure_checker EXECUTABLE lane_departure_checker_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/control/obstacle_collision_checker/CMakeLists.txt b/control/obstacle_collision_checker/CMakeLists.txt index e13747c2711e8..d96c9af65f249 100644 --- a/control/obstacle_collision_checker/CMakeLists.txt +++ b/control/obstacle_collision_checker/CMakeLists.txt @@ -1,19 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(obstacle_collision_checker) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - +find_package(autoware_cmake REQUIRED) +autoware_package() include_directories( include @@ -22,8 +11,6 @@ include_directories( ${EIGEN3_INCLUDE_DIRS} ) -# Target -## obstacle_collision_checker_node ament_auto_add_library(obstacle_collision_checker SHARED src/obstacle_collision_checker_node/obstacle_collision_checker.cpp src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp @@ -42,8 +29,6 @@ rclcpp_components_register_node(obstacle_collision_checker ) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() ament_add_ros_isolated_gtest(test_obstacle_collision_checker test/test_obstacle_collision_checker.cpp ) diff --git a/control/pure_pursuit/CMakeLists.txt b/control/pure_pursuit/CMakeLists.txt index ccab9dcdd0fd5..45b7d2f9b9ed5 100644 --- a/control/pure_pursuit/CMakeLists.txt +++ b/control/pure_pursuit/CMakeLists.txt @@ -1,21 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(pure_pursuit) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Eigen3 REQUIRED) - include_directories( ${EIGEN3_INCLUDE_DIRS} ) @@ -56,11 +46,6 @@ rclcpp_components_register_node(pure_pursuit_node EXECUTABLE pure_pursuit_node_exe ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/control/shift_decider/CMakeLists.txt b/control/shift_decider/CMakeLists.txt index 6e2e94098646c..a57ee908fa223 100644 --- a/control/shift_decider/CMakeLists.txt +++ b/control/shift_decider/CMakeLists.txt @@ -1,14 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(shift_decider) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(shift_decider_node SHARED src/shift_decider.cpp @@ -19,11 +13,6 @@ rclcpp_components_register_node(shift_decider_node EXECUTABLE shift_decider ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/control/trajectory_follower/CMakeLists.txt b/control/trajectory_follower/CMakeLists.txt index c14429798d962..606c63bbfd262 100644 --- a/control/trajectory_follower/CMakeLists.txt +++ b/control/trajectory_follower/CMakeLists.txt @@ -16,12 +16,8 @@ cmake_minimum_required(VERSION 3.5) project(trajectory_follower) -# require that dependencies from package.xml be available -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies(REQUIRED - ${${PROJECT_NAME}_BUILD_DEPENDS} - ${${PROJECT_NAME}_BUILDTOOL_DEPENDS} -) +find_package(autoware_cmake REQUIRED) +autoware_package() # lateral_controller set(LATERAL_CONTROLLER_LIB lateral_controller_lib) @@ -55,7 +51,6 @@ set(LATERAL_CONTROLLER_LIB_HEADERS include/trajectory_follower/vehicle_model/vehicle_model_interface.hpp ) -# generate library ament_auto_add_library(${LATERAL_CONTROLLER_LIB} SHARED ${LATERAL_CONTROLLER_LIB_SRC} ${LATERAL_CONTROLLER_LIB_HEADERS} @@ -84,7 +79,6 @@ set(LONGITUDINAL_CONTROLLER_LIB_HEADERS include/trajectory_follower/longitudinal_controller_utils.hpp ) -# generate library ament_auto_add_library(${LONGITUDINAL_CONTROLLER_LIB} SHARED ${LONGITUDINAL_CONTROLLER_LIB_SRC} ${LONGITUDINAL_CONTROLLER_LIB_HEADERS} @@ -98,12 +92,7 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -# Testing if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - - # Unit tests set(TEST_LAT_SOURCES test/test_mpc.cpp test/test_mpc_trajectory.cpp @@ -140,6 +129,5 @@ if(BUILD_TESTING) endif() endif() -# ament package generation and installing ament_auto_package(INSTALL_TO_SHARE ) diff --git a/control/trajectory_follower_nodes/CMakeLists.txt b/control/trajectory_follower_nodes/CMakeLists.txt index 3d9741d7bdbd6..dbfd0e770692d 100644 --- a/control/trajectory_follower_nodes/CMakeLists.txt +++ b/control/trajectory_follower_nodes/CMakeLists.txt @@ -15,8 +15,8 @@ cmake_minimum_required(VERSION 3.5) project(trajectory_follower_nodes) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() set(LATERAL_CONTROLLER_NODE lateral_controller_node) ament_auto_add_library(${LATERAL_CONTROLLER_NODE} SHARED @@ -68,9 +68,6 @@ rclcpp_components_register_node(${LATLON_MUXER_NODE} ) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - # Unit tests set(TRAJECTORY_FOLLOWER_NODES_TEST test_trajectory_follower_nodes) ament_add_ros_isolated_gtest(${TRAJECTORY_FOLLOWER_NODES_TEST} test/trajectory_follower_test_utils.hpp diff --git a/control/vehicle_cmd_gate/CMakeLists.txt b/control/vehicle_cmd_gate/CMakeLists.txt index fdb405ac4f6aa..274f326d102b7 100644 --- a/control/vehicle_cmd_gate/CMakeLists.txt +++ b/control/vehicle_cmd_gate/CMakeLists.txt @@ -1,21 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(vehicle_cmd_gate) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -# Generate exe file ament_auto_add_library(vehicle_cmd_gate_node SHARED src/vehicle_cmd_gate.cpp src/vehicle_cmd_filter.cpp @@ -27,9 +15,6 @@ rclcpp_components_register_node(vehicle_cmd_gate_node ) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - ament_add_gtest(test_vehicle_cmd_gate test/src/test_main.cpp test/src/test_vehicle_cmd_filter.cpp diff --git a/launch/tier4_autoware_api_launch/CMakeLists.txt b/launch/tier4_autoware_api_launch/CMakeLists.txt index 95c4157c0122a..fe6d5d4b4ea41 100644 --- a/launch/tier4_autoware_api_launch/CMakeLists.txt +++ b/launch/tier4_autoware_api_launch/CMakeLists.txt @@ -1,12 +1,7 @@ cmake_minimum_required(VERSION 3.5) project(tier4_autoware_api_launch) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/launch/tier4_control_launch/CMakeLists.txt b/launch/tier4_control_launch/CMakeLists.txt index b6b85a652aad8..3bd7c45fa8032 100644 --- a/launch/tier4_control_launch/CMakeLists.txt +++ b/launch/tier4_control_launch/CMakeLists.txt @@ -1,20 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_control_launch) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wno-unused-parameter -Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package( INSTALL_TO_SHARE diff --git a/launch/tier4_integration_launch/CMakeLists.txt b/launch/tier4_integration_launch/CMakeLists.txt index 16ec58cb319e0..6abc592a4be1f 100644 --- a/launch/tier4_integration_launch/CMakeLists.txt +++ b/launch/tier4_integration_launch/CMakeLists.txt @@ -2,13 +2,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_integration_launch) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package( INSTALL_TO_SHARE diff --git a/launch/tier4_localization_launch/CMakeLists.txt b/launch/tier4_localization_launch/CMakeLists.txt index 2221e001f3b87..efa6394414a1a 100644 --- a/launch/tier4_localization_launch/CMakeLists.txt +++ b/launch/tier4_localization_launch/CMakeLists.txt @@ -1,20 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_localization_launch) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-parameter) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package(INSTALL_TO_SHARE launch diff --git a/launch/tier4_map_launch/CMakeLists.txt b/launch/tier4_map_launch/CMakeLists.txt index 7ad8b620591ef..fa6d779fc5c40 100644 --- a/launch/tier4_map_launch/CMakeLists.txt +++ b/launch/tier4_map_launch/CMakeLists.txt @@ -1,20 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_map_launch) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wno-unused-parameter -Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package( INSTALL_TO_SHARE diff --git a/launch/tier4_perception_launch/CMakeLists.txt b/launch/tier4_perception_launch/CMakeLists.txt index 5fc85d2ee4c56..fef1049b54b92 100644 --- a/launch/tier4_perception_launch/CMakeLists.txt +++ b/launch/tier4_perception_launch/CMakeLists.txt @@ -1,13 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_perception_launch) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package( INSTALL_TO_SHARE diff --git a/launch/tier4_planning_launch/CMakeLists.txt b/launch/tier4_planning_launch/CMakeLists.txt index 886b0215f3598..b0ab675c862f1 100644 --- a/launch/tier4_planning_launch/CMakeLists.txt +++ b/launch/tier4_planning_launch/CMakeLists.txt @@ -1,20 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_planning_launch) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wno-unused-parameter -Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package( INSTALL_TO_SHARE diff --git a/launch/tier4_sensing_launch/CMakeLists.txt b/launch/tier4_sensing_launch/CMakeLists.txt index c313fd6105dc7..87cd3b4e259cc 100644 --- a/launch/tier4_sensing_launch/CMakeLists.txt +++ b/launch/tier4_sensing_launch/CMakeLists.txt @@ -1,13 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_sensing_launch) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package(INSTALL_TO_SHARE launch diff --git a/launch/tier4_simulator_launch/CMakeLists.txt b/launch/tier4_simulator_launch/CMakeLists.txt index 37e0aa2f6828f..ffc501b68964b 100644 --- a/launch/tier4_simulator_launch/CMakeLists.txt +++ b/launch/tier4_simulator_launch/CMakeLists.txt @@ -1,13 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_simulator_launch) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package(INSTALL_TO_SHARE launch diff --git a/launch/tier4_system_launch/CMakeLists.txt b/launch/tier4_system_launch/CMakeLists.txt index a4506ba6613aa..f1681aa39035f 100644 --- a/launch/tier4_system_launch/CMakeLists.txt +++ b/launch/tier4_system_launch/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_system_launch) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package(INSTALL_TO_SHARE launch diff --git a/launch/tier4_vehicle_launch/CMakeLists.txt b/launch/tier4_vehicle_launch/CMakeLists.txt index 2281b95d869d7..b363a8ff68311 100644 --- a/launch/tier4_vehicle_launch/CMakeLists.txt +++ b/launch/tier4_vehicle_launch/CMakeLists.txt @@ -1,16 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(tier4_vehicle_launch) -add_compile_options(-std=c++14) - -find_package(ament_cmake_auto REQUIRED) - -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_package(INSTALL_TO_SHARE launch diff --git a/localization/ekf_localizer/CMakeLists.txt b/localization/ekf_localizer/CMakeLists.txt index e62a6dcaa9d6a..aa70ff9c27bff 100644 --- a/localization/ekf_localizer/CMakeLists.txt +++ b/localization/ekf_localizer/CMakeLists.txt @@ -1,19 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(ekf_localizer) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# find dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Eigen3 REQUIRED) @@ -45,11 +34,6 @@ endif() # ament_target_dependencies(ekf_localizer-test geometry_msgs rclcpp tf2 tf2_ros) # endif() -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/localization/gyro_odometer/CMakeLists.txt b/localization/gyro_odometer/CMakeLists.txt index 6a4f79e5a3799..97c943fd8c7f2 100644 --- a/localization/gyro_odometer/CMakeLists.txt +++ b/localization/gyro_odometer/CMakeLists.txt @@ -1,28 +1,12 @@ cmake_minimum_required(VERSION 3.5) project(gyro_odometer) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -set(GYRO_ODOMETER_SRC - src/gyro_odometer_core.cpp) - -set(GYRO_ODOMETER_HEADERS - include/gyro_odometer/gyro_odometer_core.hpp) +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_executable(${PROJECT_NAME} src/gyro_odometer_node.cpp - ${GYRO_ODOMETER_SRC} - ${GYRO_ODOMETER_HEADERS} + src/gyro_odometer_core.cpp ) # workaround to allow deprecated header to build on both galactic and rolling @@ -32,11 +16,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/localization/initial_pose_button_panel/CMakeLists.txt b/localization/initial_pose_button_panel/CMakeLists.txt index b4194c5daf792..b9b24df565467 100644 --- a/localization/initial_pose_button_panel/CMakeLists.txt +++ b/localization/initial_pose_button_panel/CMakeLists.txt @@ -1,15 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(initial_pose_button_panel) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) set(QT_LIBRARIES Qt5::Widgets) @@ -25,11 +18,6 @@ target_link_libraries(initial_pose_button_panel # Export the plugin to be imported by rviz2 pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml) -if(BUILD_TESTING) -find_package(ament_lint_auto REQUIRED) -ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE plugins diff --git a/localization/localization_error_monitor/CMakeLists.txt b/localization/localization_error_monitor/CMakeLists.txt index 1fecce9947e05..17b76573266a1 100644 --- a/localization/localization_error_monitor/CMakeLists.txt +++ b/localization/localization_error_monitor/CMakeLists.txt @@ -1,23 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(localization_error_monitor) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() - -# Target -## Add executables ament_auto_add_executable(localization_error_monitor src/main.cpp src/node.cpp @@ -30,11 +16,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/localization/ndt/CMakeLists.txt b/localization/ndt/CMakeLists.txt index e7542aee07cfb..140c439c092e1 100644 --- a/localization/ndt/CMakeLists.txt +++ b/localization/ndt/CMakeLists.txt @@ -1,6 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(ndt) +find_package(autoware_cmake REQUIRED) +autoware_package() + # Compile flags for SIMD instructions # Be careful to change these options, especially when `ndt_omp` implementation is used. # All packages linked to `ndt_omp` should use the same SIMD instruction set. @@ -19,19 +22,7 @@ else() endif() endif() -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake REQUIRED) find_package(PCL REQUIRED COMPONENTS common io registration) -find_package(ndt_omp REQUIRED) -find_package(ndt_pcl_modified REQUIRED) add_library(ndt src/base.cpp @@ -75,9 +66,4 @@ install( RUNTIME DESTINATION bin ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_package() diff --git a/localization/ndt_pcl_modified/CMakeLists.txt b/localization/ndt_pcl_modified/CMakeLists.txt index 47605e0cace66..f90d2fb0b83d9 100644 --- a/localization/ndt_pcl_modified/CMakeLists.txt +++ b/localization/ndt_pcl_modified/CMakeLists.txt @@ -1,6 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(ndt_pcl_modified) +find_package(autoware_cmake REQUIRED) +autoware_package() + # Compile flags for SIMD instructions # Be careful to change these options, especially when `ndt_omp` implementation is used. # All packages linked to `ndt_omp` should use the same SIMD instruction set. @@ -19,16 +22,6 @@ else() endif() endif() -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake REQUIRED) find_package(PCL REQUIRED COMPONENTS common) add_library(ndt_pcl_modified @@ -64,9 +57,4 @@ install( INCLUDES DESTINATION include ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_package() diff --git a/localization/ndt_scan_matcher/CMakeLists.txt b/localization/ndt_scan_matcher/CMakeLists.txt index 090304df8a5a5..b23b656b3497c 100644 --- a/localization/ndt_scan_matcher/CMakeLists.txt +++ b/localization/ndt_scan_matcher/CMakeLists.txt @@ -1,6 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(ndt_scan_matcher) +find_package(autoware_cmake REQUIRED) +autoware_package() + # Compile flags for SIMD instructions # Be careful to change these options, especially when `ndt_omp` implementation is used. # All packages linked to `ndt_omp` should use the same SIMD instruction set. @@ -19,19 +22,6 @@ else() endif() endif() -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - ament_auto_add_executable(ndt_scan_matcher src/debug.cpp src/ndt_scan_matcher_node.cpp @@ -46,11 +36,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/localization/pose2twist/CMakeLists.txt b/localization/pose2twist/CMakeLists.txt index ba24100ca17f4..3a1d98d882dde 100644 --- a/localization/pose2twist/CMakeLists.txt +++ b/localization/pose2twist/CMakeLists.txt @@ -1,14 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(pose2twist) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_executable(pose2twist src/pose2twist_node.cpp @@ -22,11 +16,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/localization/pose_initializer/CMakeLists.txt b/localization/pose_initializer/CMakeLists.txt index cd0de24582843..ec324acef263a 100644 --- a/localization/pose_initializer/CMakeLists.txt +++ b/localization/pose_initializer/CMakeLists.txt @@ -1,20 +1,10 @@ cmake_minimum_required(VERSION 3.5) project(pose_initializer) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -### Dependencies -find_package(ament_cmake_auto REQUIRED) find_package(PCL REQUIRED) -ament_auto_find_build_dependencies() ament_auto_add_executable(pose_initializer src/pose_initializer_node.cpp @@ -29,11 +19,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/localization/stop_filter/CMakeLists.txt b/localization/stop_filter/CMakeLists.txt index 6eb7a5085b6f6..d898f8e830b81 100644 --- a/localization/stop_filter/CMakeLists.txt +++ b/localization/stop_filter/CMakeLists.txt @@ -1,20 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(stop_filter) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - # add_compile_options(-Wall -Wextra -Wpedantic) - add_compile_options(-Wno-unused-parameter) -endif() - -# find dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_executable(stop_filter src/stop_filter_node.cpp @@ -22,11 +10,6 @@ ament_auto_add_executable(stop_filter ) ament_target_dependencies(stop_filter) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/localization/vehicle_velocity_converter/CMakeLists.txt b/localization/vehicle_velocity_converter/CMakeLists.txt index b63c8f42be84a..fdc13d19abf80 100644 --- a/localization/vehicle_velocity_converter/CMakeLists.txt +++ b/localization/vehicle_velocity_converter/CMakeLists.txt @@ -1,19 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(vehicle_velocity_converter) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -# find dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_executable(vehicle_velocity_converter src/vehicle_velocity_converter_node.cpp @@ -21,11 +10,6 @@ ament_auto_add_executable(vehicle_velocity_converter ) ament_target_dependencies(vehicle_velocity_converter) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/map/lanelet2_extension/CMakeLists.txt b/map/lanelet2_extension/CMakeLists.txt index a59b95ba2e3c8..999f181ab03c4 100644 --- a/map/lanelet2_extension/CMakeLists.txt +++ b/map/lanelet2_extension/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(lanelet2_extension) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(PkgConfig) find_path(GeographicLib_INCLUDE_DIR GeographicLib/Config.h @@ -79,7 +69,6 @@ target_link_libraries(autoware_lanelet2_validation ) if(BUILD_TESTING) - find_package(ament_cmake_gtest REQUIRED) ament_add_gtest(message_conversion-test test/src/test_message_conversion.cpp) target_link_libraries(message_conversion-test lanelet2_extension_lib) ament_add_gtest(projector-test test/src/test_projector.cpp) @@ -90,8 +79,6 @@ if(BUILD_TESTING) target_link_libraries(regulatory_elements-test lanelet2_extension_lib) ament_add_gtest(utilities-test test/src/test_utilities.cpp) target_link_libraries(utilities-test lanelet2_extension_lib) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() endif() ament_auto_package() diff --git a/map/map_loader/CMakeLists.txt b/map/map_loader/CMakeLists.txt index f48ced30d275c..2aed764c8e66e 100644 --- a/map/map_loader/CMakeLists.txt +++ b/map/map_loader/CMakeLists.txt @@ -1,21 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(map_loader) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(PCL REQUIRED COMPONENTS io) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - ament_auto_add_library(pointcloud_map_loader_node SHARED src/pointcloud_map_loader/pointcloud_map_loader_node.cpp ) @@ -54,11 +44,6 @@ install(PROGRAMS DESTINATION lib/${PROJECT_NAME} ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/map/map_tf_generator/CMakeLists.txt b/map/map_tf_generator/CMakeLists.txt index bdaa26b4a6984..cccf1bc403a1d 100644 --- a/map/map_tf_generator/CMakeLists.txt +++ b/map/map_tf_generator/CMakeLists.txt @@ -1,24 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(map_tf_generator) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -### ROS Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -### non-ROS Dependencies find_package(PCL REQUIRED) -# Generate exe file ament_auto_add_library(map_tf_generator_node SHARED src/map_tf_generator_node.cpp ) @@ -29,12 +16,6 @@ rclcpp_components_register_node(map_tf_generator_node EXECUTABLE map_tf_generator ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -## Install ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/map/util/lanelet2_map_preprocessor/CMakeLists.txt b/map/util/lanelet2_map_preprocessor/CMakeLists.txt index 0319b17f625a5..6c4bde6c5ca4c 100644 --- a/map/util/lanelet2_map_preprocessor/CMakeLists.txt +++ b/map/util/lanelet2_map_preprocessor/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(lanelet2_map_preprocessor) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() include_directories( include diff --git a/perception/compare_map_segmentation/CMakeLists.txt b/perception/compare_map_segmentation/CMakeLists.txt index c2983c01f236a..ca77670979850 100644 --- a/perception/compare_map_segmentation/CMakeLists.txt +++ b/perception/compare_map_segmentation/CMakeLists.txt @@ -1,34 +1,15 @@ cmake_minimum_required(VERSION 3.5) project(compare_map_segmentation) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -# Ignore PCL errors in Clang -if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wno-gnu-anonymous-struct -Wno-nested-anon-types) -endif() - -find_package(ament_cmake_auto REQUIRED) find_package(OpenCV REQUIRED) find_package(Eigen3 REQUIRED) find_package(Boost REQUIRED) find_package(PCL REQUIRED) find_package(pcl_conversions REQUIRED) find_package(OpenMP) -ament_auto_find_build_dependencies() - - -########### -## Build ## -########### include_directories( include @@ -87,12 +68,6 @@ rclcpp_components_register_node(compare_map_segmentation PLUGIN "compare_map_segmentation::CompareElevationMapFilterComponent" EXECUTABLE compare_elevation_map_filter_node) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/perception/detected_object_feature_remover/CMakeLists.txt b/perception/detected_object_feature_remover/CMakeLists.txt index bcb9165ed5b6d..c4f7c8eba760e 100644 --- a/perception/detected_object_feature_remover/CMakeLists.txt +++ b/perception/detected_object_feature_remover/CMakeLists.txt @@ -1,21 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(detected_object_feature_remover) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -# Generate exe file ament_auto_add_library(detected_object_feature_remover_node SHARED src/detected_object_feature_remover.cpp ) diff --git a/perception/detected_object_validation/CMakeLists.txt b/perception/detected_object_validation/CMakeLists.txt index e2db5edeb9a3c..13135a39f5fab 100644 --- a/perception/detected_object_validation/CMakeLists.txt +++ b/perception/detected_object_validation/CMakeLists.txt @@ -1,23 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(detected_object_validation) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -# Ignore -Wnonportable-include-path in Clang for mussp -if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wno-nonportable-include-path) -endif() - -### Find Packages -find_package(ament_cmake_auto REQUIRED) +find_package(autoware_cmake REQUIRED) +autoware_package() ### Find OpenCV Dependencies find_package(OpenCV REQUIRED) @@ -29,9 +14,6 @@ find_package(PCL REQUIRED QUIET COMPONENTS common search filters segmentation) find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) -### Find dependencies listed in the package.xml -ament_auto_find_build_dependencies() - include_directories( include SYSTEM @@ -81,11 +63,6 @@ rclcpp_components_register_node(obstacle_pointcloud_based_validator EXECUTABLE obstacle_pointcloud_based_validator_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/perception/detection_by_tracker/CMakeLists.txt b/perception/detection_by_tracker/CMakeLists.txt index 37478b5aa8d6b..da4e67d8e8b24 100644 --- a/perception/detection_by_tracker/CMakeLists.txt +++ b/perception/detection_by_tracker/CMakeLists.txt @@ -1,24 +1,14 @@ cmake_minimum_required(VERSION 3.5) project(detection_by_tracker) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() # Ignore -Wnonportable-include-path in Clang for mussp if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wno-nonportable-include-path) endif() -### Find Packages -find_package(ament_cmake_auto REQUIRED) - ### Find PCL Dependencies find_package(PCL REQUIRED) @@ -26,9 +16,6 @@ find_package(PCL REQUIRED) find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) -### Find dependencies listed in the package.xml -ament_auto_find_build_dependencies() - include_directories( include SYSTEM @@ -63,11 +50,6 @@ rclcpp_components_register_node(detection_by_tracker_node EXECUTABLE detection_by_tracker ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/perception/elevation_map_loader/CMakeLists.txt b/perception/elevation_map_loader/CMakeLists.txt index 8f5faa9a38513..ab2c1dcc20e1d 100644 --- a/perception/elevation_map_loader/CMakeLists.txt +++ b/perception/elevation_map_loader/CMakeLists.txt @@ -1,21 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(elevation_map_loader) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(PCL REQUIRED COMPONENTS io) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - ament_auto_add_library(elevation_map_loader_node SHARED src/elevation_map_loader_node.cpp ) @@ -26,11 +16,6 @@ rclcpp_components_register_node(elevation_map_loader_node EXECUTABLE elevation_map_loader ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/perception/euclidean_cluster/CMakeLists.txt b/perception/euclidean_cluster/CMakeLists.txt index 99cc683cc3815..d89921b12e2c1 100644 --- a/perception/euclidean_cluster/CMakeLists.txt +++ b/perception/euclidean_cluster/CMakeLists.txt @@ -1,17 +1,10 @@ cmake_minimum_required(VERSION 3.5) project(euclidean_cluster) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -find_package(ament_cmake_auto REQUIRED) find_package(PCL REQUIRED) -ament_auto_find_build_dependencies() - include_directories( include diff --git a/perception/ground_segmentation/CMakeLists.txt b/perception/ground_segmentation/CMakeLists.txt index 5326fd95b82b4..6cbdd9a75f844 100644 --- a/perception/ground_segmentation/CMakeLists.txt +++ b/perception/ground_segmentation/CMakeLists.txt @@ -1,34 +1,15 @@ cmake_minimum_required(VERSION 3.5) project(ground_segmentation) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -# Ignore PCL errors in Clang -if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wno-gnu-anonymous-struct -Wno-nested-anon-types) -endif() - -find_package(ament_cmake_auto REQUIRED) find_package(OpenCV REQUIRED) find_package(Eigen3 REQUIRED) find_package(Boost REQUIRED) find_package(PCL REQUIRED) find_package(pcl_conversions REQUIRED) find_package(OpenMP) -ament_auto_find_build_dependencies() - - -########### -## Build ## -########### include_directories( include @@ -82,15 +63,6 @@ rclcpp_components_register_node(ground_segmentation PLUGIN "ground_segmentation::ScanGroundFilterComponent" EXECUTABLE scan_ground_filter_node) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -############# -## Install ## -############# - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/perception/image_projection_based_fusion/CMakeLists.txt b/perception/image_projection_based_fusion/CMakeLists.txt index 06703aa8d08d9..00592a798fd40 100644 --- a/perception/image_projection_based_fusion/CMakeLists.txt +++ b/perception/image_projection_based_fusion/CMakeLists.txt @@ -1,21 +1,12 @@ cmake_minimum_required(VERSION 3.8) project(image_projection_based_fusion) -if (NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -# find dependencies -find_package(ament_lint_auto REQUIRED) -find_package(ament_cmake_auto REQUIRED) find_package(OpenCV REQUIRED) find_package(Eigen3 REQUIRED) -ament_auto_find_build_dependencies() - include_directories( include ${OpenCV_INCLUDE_DIRS} @@ -52,10 +43,6 @@ rclcpp_components_register_node(${PROJECT_NAME} EXECUTABLE roi_detected_object_fusion_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/perception/lidar_apollo_instance_segmentation/CMakeLists.txt b/perception/lidar_apollo_instance_segmentation/CMakeLists.txt index 0354ea649a3a6..7a3d5aba5ed1c 100644 --- a/perception/lidar_apollo_instance_segmentation/CMakeLists.txt +++ b/perception/lidar_apollo_instance_segmentation/CMakeLists.txt @@ -1,6 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(lidar_apollo_instance_segmentation) +find_package(autoware_cmake REQUIRED) +autoware_package() + # TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) add_compile_options(-Wno-deprecated-declarations) @@ -93,19 +96,8 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) execute_process(COMMAND gdown "https://drive.google.com/uc?id=1izpNotNxS6mrYIzJwHQ_EyX_IPDU-MBr" -O ${PATH}/vls-128.caffemodel) endif() - find_package(ament_cmake_auto REQUIRED) - ament_auto_find_build_dependencies() find_package(PCL REQUIRED) - if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) - endif() - if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Wno-deprecated-declarations -Werror) - endif() - set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -O3") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D_MWAITXINTRIN_H_INCLUDED") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D_FORCE_INLINES") set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -D__STRICT_ANSI__") @@ -156,11 +148,6 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) EXECUTABLE lidar_apollo_instance_segmentation_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config @@ -168,14 +155,6 @@ endif() ) else() - find_package(ament_cmake_auto REQUIRED) - ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - # to avoid launch file missing without a gpu ament_auto_package(INSTALL_TO_SHARE launch diff --git a/perception/lidar_centerpoint/CMakeLists.txt b/perception/lidar_centerpoint/CMakeLists.txt index 782eaf12989f1..1f0e86c25e378 100644 --- a/perception/lidar_centerpoint/CMakeLists.txt +++ b/perception/lidar_centerpoint/CMakeLists.txt @@ -1,14 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(lidar_centerpoint) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() # TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) add_compile_options(-Wno-deprecated-declarations -Wno-unknown-pragmas) @@ -178,11 +172,6 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) EXECUTABLE lidar_centerpoint_node ) - if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - endif() - ament_auto_package( INSTALL_TO_SHARE launch @@ -193,10 +182,6 @@ else() find_package(ament_cmake_auto REQUIRED) ament_auto_find_build_dependencies() - if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - endif() ament_auto_package( INSTALL_TO_SHARE launch diff --git a/perception/map_based_prediction/CMakeLists.txt b/perception/map_based_prediction/CMakeLists.txt index 22ea05cae0f68..387718b7cc200 100644 --- a/perception/map_based_prediction/CMakeLists.txt +++ b/perception/map_based_prediction/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(map_based_prediction) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Eigen3 REQUIRED) @@ -34,11 +24,6 @@ rclcpp_components_register_node(map_based_prediction_node EXECUTABLE map_based_prediction ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE config diff --git a/perception/multi_object_tracker/CMakeLists.txt b/perception/multi_object_tracker/CMakeLists.txt index b03285d290d73..2402f68c49ae4 100644 --- a/perception/multi_object_tracker/CMakeLists.txt +++ b/perception/multi_object_tracker/CMakeLists.txt @@ -1,31 +1,18 @@ cmake_minimum_required(VERSION 3.5) project(multi_object_tracker) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() # Ignore -Wnonportable-include-path in Clang for mussp if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wno-nonportable-include-path) endif() -### Find Packages -find_package(ament_cmake_auto REQUIRED) - ### Find Eigen Dependencies find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) -### Find dependencies listed in the package.xml -ament_auto_find_build_dependencies() - # Generate exe file set(MULTI_OBJECT_TRACKER_SRC src/multi_object_tracker_core.cpp @@ -67,11 +54,6 @@ rclcpp_components_register_node(multi_object_tracker_node EXECUTABLE multi_object_tracker ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/perception/object_merger/CMakeLists.txt b/perception/object_merger/CMakeLists.txt index e8b1b78d3e071..508c567f1aabe 100644 --- a/perception/object_merger/CMakeLists.txt +++ b/perception/object_merger/CMakeLists.txt @@ -1,23 +1,10 @@ cmake_minimum_required(VERSION 3.5) project(object_merger) -find_package(PCL REQUIRED COMPONENTS common filters) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -include_directories( - include -) +find_package(PCL REQUIRED COMPONENTS common filters) ament_auto_add_library(object_association_merger SHARED src/object_association_merger/utils/utils.cpp @@ -33,15 +20,6 @@ rclcpp_components_register_node(object_association_merger EXECUTABLE object_association_merger_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -############# -## Install ## -############# - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/perception/object_range_splitter/CMakeLists.txt b/perception/object_range_splitter/CMakeLists.txt index 8f7f5fd4f33c5..fe7a0429d54e9 100644 --- a/perception/object_range_splitter/CMakeLists.txt +++ b/perception/object_range_splitter/CMakeLists.txt @@ -1,23 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(object_range_splitter) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -########### -## Build ## -########### - -include_directories( - include -) +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(object_range_splitter SHARED src/node.cpp @@ -28,15 +13,6 @@ rclcpp_components_register_node(object_range_splitter EXECUTABLE object_range_splitter_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -############# -## Install ## -############# - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt b/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt index aa2260f483247..f42c771eb39bc 100644 --- a/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt +++ b/perception/occupancy_grid_map_outlier_filter/CMakeLists.txt @@ -1,22 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(occupancy_grid_map_outlier_filter) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -# Ignore PCL errors in Clang -if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wno-gnu-anonymous-struct -Wno-nested-anon-types) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -find_package(ament_cmake_auto REQUIRED) find_package(OpenCV REQUIRED) find_package(Eigen3 REQUIRED) find_package(Boost REQUIRED) @@ -25,11 +12,6 @@ find_package(pcl_conversions REQUIRED) find_package(OpenMP) ament_auto_find_build_dependencies() - -########### -## Build ## -########### - include_directories( include SYSTEM @@ -64,20 +46,9 @@ if(OPENMP_FOUND) ) endif() - # -- Occupancy Grid Map Outlier Filter -- rclcpp_components_register_node(occupancy_grid_map_outlier_filter PLUGIN "occupancy_grid_map_outlier_filter::OccupancyGridMapOutlierFilterComponent" EXECUTABLE occupancy_grid_map_outlier_filter_node) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -############# -## Install ## -############# - ament_auto_package(INSTALL_TO_SHARE) diff --git a/perception/shape_estimation/CMakeLists.txt b/perception/shape_estimation/CMakeLists.txt index 2880e999dc6fe..3a2a7a536f2e8 100644 --- a/perception/shape_estimation/CMakeLists.txt +++ b/perception/shape_estimation/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(shape_estimation) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(PCL REQUIRED COMPONENTS common) find_package(pcl_conversions REQUIRED) @@ -80,11 +71,6 @@ rclcpp_components_register_node(shape_estimation_node EXECUTABLE shape_estimation ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/perception/tensorrt_yolo/CMakeLists.txt b/perception/tensorrt_yolo/CMakeLists.txt index 96c0700332cf1..0653b7a37ae16 100755 --- a/perception/tensorrt_yolo/CMakeLists.txt +++ b/perception/tensorrt_yolo/CMakeLists.txt @@ -1,23 +1,14 @@ cmake_minimum_required(VERSION 3.5) project(tensorrt_yolo) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Wno-deprecated-declarations -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() # TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) add_compile_options(-Wno-deprecated-declarations) option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - find_package(OpenCV REQUIRED) # set flags for CUDA availability @@ -243,11 +234,6 @@ if(TRT_AVAIL AND CUDA_AVAIL AND CUDNN_AVAIL) EXECUTABLE tensorrt_yolo_node ) - if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - endif() - ament_auto_package(INSTALL_TO_SHARE config data diff --git a/perception/traffic_light_classifier/CMakeLists.txt b/perception/traffic_light_classifier/CMakeLists.txt index 76cb89264d702..8ebb28e55a097 100644 --- a/perception/traffic_light_classifier/CMakeLists.txt +++ b/perception/traffic_light_classifier/CMakeLists.txt @@ -1,12 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(traffic_light_classifier) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Wno-deprecated-declarations -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() # TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) add_compile_options(-Wno-deprecated-declarations) diff --git a/perception/traffic_light_map_based_detector/CMakeLists.txt b/perception/traffic_light_map_based_detector/CMakeLists.txt index 7dbddc4ebc63b..4660a40fb1aab 100644 --- a/perception/traffic_light_map_based_detector/CMakeLists.txt +++ b/perception/traffic_light_map_based_detector/CMakeLists.txt @@ -1,24 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(traffic_light_map_based_detector) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Eigen3 REQUIRED) -########### -## Build ## -########### - include_directories( ${EIGEN3_INCLUDE_DIR} ) @@ -39,15 +26,6 @@ rclcpp_components_register_node(traffic_light_map_based_detector EXECUTABLE traffic_light_map_based_detector_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -############# -## Install ## -############# - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/perception/traffic_light_ssd_fine_detector/CMakeLists.txt b/perception/traffic_light_ssd_fine_detector/CMakeLists.txt index fdffc78737186..e6377b97fab0e 100644 --- a/perception/traffic_light_ssd_fine_detector/CMakeLists.txt +++ b/perception/traffic_light_ssd_fine_detector/CMakeLists.txt @@ -1,24 +1,14 @@ cmake_minimum_required(VERSION 3.5) - -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - project(traffic_light_ssd_fine_detector) +find_package(autoware_cmake REQUIRED) +autoware_package() + # TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/850) add_compile_options(-Wno-deprecated-declarations) option(CUDA_VERBOSE "Verbose output of CUDA modules" OFF) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - find_package(OpenCV REQUIRED) # set flags for CUDA availability diff --git a/perception/traffic_light_visualization/CMakeLists.txt b/perception/traffic_light_visualization/CMakeLists.txt index 38674fabe20ba..2c6862095d88b 100644 --- a/perception/traffic_light_visualization/CMakeLists.txt +++ b/perception/traffic_light_visualization/CMakeLists.txt @@ -1,22 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(traffic_light_visualization) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(OpenCV REQUIRED) -########### -## Build ## -########### - ament_auto_add_library(traffic_light_roi_visualizer_nodelet SHARED src/traffic_light_roi_visualizer/nodelet.cpp ) @@ -30,20 +19,11 @@ rclcpp_components_register_node(traffic_light_roi_visualizer_nodelet EXECUTABLE traffic_light_visualization_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_add_executable(traffic_light_map_visualizer_node src/traffic_light_map_visualizer/node.cpp src/traffic_light_map_visualizer/main.cpp ) -############# -## Install ## -############# - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/planning/behavior_path_planner/CMakeLists.txt b/planning/behavior_path_planner/CMakeLists.txt index 40585a7effdca..8832c860df8ed 100644 --- a/planning/behavior_path_planner/CMakeLists.txt +++ b/planning/behavior_path_planner/CMakeLists.txt @@ -1,17 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(behavior_path_planner) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() find_package(OpenCV REQUIRED) ament_auto_add_library(behavior_path_planner_node SHARED @@ -56,11 +48,6 @@ rclcpp_components_register_node(behavior_path_planner_node EXECUTABLE behavior_path_planner ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE config diff --git a/planning/behavior_velocity_planner/CMakeLists.txt b/planning/behavior_velocity_planner/CMakeLists.txt index f73f643ee6ef7..3bff8ff9451af 100644 --- a/planning/behavior_velocity_planner/CMakeLists.txt +++ b/planning/behavior_velocity_planner/CMakeLists.txt @@ -1,27 +1,16 @@ cmake_minimum_required(VERSION 3.5) project(behavior_velocity_planner) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() # Find the non-obvious packages manually -find_package(ament_cmake REQUIRED) find_package(Boost REQUIRED) find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) find_package(PCL REQUIRED COMPONENTS common) find_package(OpenCV REQUIRED) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - set(BEHAVIOR_VELOCITY_PLANNER_DEPENDENCIES tier4_api_msgs autoware_auto_perception_msgs @@ -400,9 +389,6 @@ rclcpp_components_register_node(behavior_velocity_planner if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - # utils for test ament_auto_add_library(utilization SHARED src/utilization/util.cpp @@ -447,7 +433,6 @@ if(BUILD_TESTING) USE_TF2_GEOMETRY_MSGS_DEPRECATED_HEADER ) endif() - endif() ament_auto_package(INSTALL_TO_SHARE diff --git a/planning/costmap_generator/CMakeLists.txt b/planning/costmap_generator/CMakeLists.txt index b1375b3b1f30d..27b6b971897dc 100644 --- a/planning/costmap_generator/CMakeLists.txt +++ b/planning/costmap_generator/CMakeLists.txt @@ -1,20 +1,11 @@ cmake_minimum_required(VERSION 3.5) - project(costmap_generator) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -find_package(ament_cmake_auto REQUIRED) find_package(PCL REQUIRED COMPONENTS common io) find_package(FLANN REQUIRED) -ament_auto_find_build_dependencies() include_directories( include @@ -70,8 +61,6 @@ rclcpp_components_register_node(costmap_generator_node if(BUILD_TESTING) find_package(ament_cmake_gtest REQUIRED) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() endif() ament_auto_package(INSTALL_TO_SHARE launch) diff --git a/planning/external_velocity_limit_selector/CMakeLists.txt b/planning/external_velocity_limit_selector/CMakeLists.txt index 58cf571a6fc1a..ec5b0293bf887 100644 --- a/planning/external_velocity_limit_selector/CMakeLists.txt +++ b/planning/external_velocity_limit_selector/CMakeLists.txt @@ -1,30 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(external_velocity_limit_selector) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -## Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -# Target - -## Target executable -set(EXTERNAL_VELOCITY_LIMIT_SELECTOR_SRC - src/external_velocity_limit_selector_node.cpp -) - -## external_velocity_limit_selector_node ament_auto_add_library(external_velocity_limit_selector_node SHARED - ${EXTERNAL_VELOCITY_LIMIT_SELECTOR_SRC} + src/external_velocity_limit_selector_node.cpp ) rclcpp_components_register_node(external_velocity_limit_selector_node @@ -32,11 +13,6 @@ rclcpp_components_register_node(external_velocity_limit_selector_node EXECUTABLE external_velocity_limit_selector ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/planning/freespace_planner/CMakeLists.txt b/planning/freespace_planner/CMakeLists.txt index 42750739010e8..c81de25a7c4db 100644 --- a/planning/freespace_planner/CMakeLists.txt +++ b/planning/freespace_planner/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(freespace_planner) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(freespace_planner_node SHARED src/freespace_planner/freespace_planner_node.cpp @@ -29,11 +20,6 @@ rclcpp_components_register_node(freespace_planner_node EXECUTABLE freespace_planner ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/planning/freespace_planning_algorithms/CMakeLists.txt b/planning/freespace_planning_algorithms/CMakeLists.txt index b3fcf283bf5b4..3b9544532e067 100644 --- a/planning/freespace_planning_algorithms/CMakeLists.txt +++ b/planning/freespace_planning_algorithms/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(freespace_planning_algorithms) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(reeds_shepp SHARED src/reeds_shepp.cpp @@ -34,9 +25,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) endif() if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - find_package(ament_cmake_gtest REQUIRED) ament_add_gtest(freespace_planning_algorithms-test test/src/test_freespace_planning_algorithms.cpp diff --git a/planning/mission_planner/CMakeLists.txt b/planning/mission_planner/CMakeLists.txt index 3cda858f537ae..f435d48e3b874 100644 --- a/planning/mission_planner/CMakeLists.txt +++ b/planning/mission_planner/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(mission_planner) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(mission_planner_node SHARED lib/mission_planner_base.cpp @@ -41,11 +31,6 @@ rclcpp_components_register_node(goal_pose_visualizer_node EXECUTABLE goal_pose_visualizer ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/planning/motion_velocity_smoother/CMakeLists.txt b/planning/motion_velocity_smoother/CMakeLists.txt index 4dd75852c71d5..d855ea1a09a93 100644 --- a/planning/motion_velocity_smoother/CMakeLists.txt +++ b/planning/motion_velocity_smoother/CMakeLists.txt @@ -1,23 +1,13 @@ cmake_minimum_required(VERSION 3.5) project(motion_velocity_smoother) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Boost REQUIRED) find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) - set(MOTION_VELOCITY_SMOOTHER_SRC src/motion_velocity_smoother_node.cpp src/trajectory_utils.cpp @@ -58,11 +48,6 @@ rclcpp_components_register_node(motion_velocity_smoother_node EXECUTABLE motion_velocity_smoother ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/planning/obstacle_avoidance_planner/CMakeLists.txt b/planning/obstacle_avoidance_planner/CMakeLists.txt index 3e2858a4c08fb..a6bdd49b1d1ef 100644 --- a/planning/obstacle_avoidance_planner/CMakeLists.txt +++ b/planning/obstacle_avoidance_planner/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(obstacle_avoidance_planner) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Eigen3 REQUIRED) find_package(OpenCV REQUIRED) @@ -50,11 +41,6 @@ rclcpp_components_register_node(obstacle_avoidance_planner EXECUTABLE obstacle_avoidance_planner_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/planning/obstacle_stop_planner/CMakeLists.txt b/planning/obstacle_stop_planner/CMakeLists.txt index 26b2bc308d4bf..6938f414f92d8 100644 --- a/planning/obstacle_stop_planner/CMakeLists.txt +++ b/planning/obstacle_stop_planner/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(obstacle_stop_planner) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(Eigen3 REQUIRED) find_package(OpenCV REQUIRED) @@ -46,11 +37,6 @@ rclcpp_components_register_node(obstacle_stop_planner EXECUTABLE obstacle_stop_planner_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE config diff --git a/planning/planning_error_monitor/CMakeLists.txt b/planning/planning_error_monitor/CMakeLists.txt index e1bcc4dae15c6..31081701780f5 100644 --- a/planning/planning_error_monitor/CMakeLists.txt +++ b/planning/planning_error_monitor/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(planning_error_monitor) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(planning_error_monitor_node SHARED src/planning_error_monitor_node.cpp @@ -39,8 +30,6 @@ rclcpp_components_register_node(invalid_trajectory_publisher_node ) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() ament_add_gtest(test_planning_error_monitor test/src/test_main.cpp test/src/test_planning_error_monitor_functions.cpp diff --git a/planning/planning_evaluator/CMakeLists.txt b/planning/planning_evaluator/CMakeLists.txt index 400a2bbfc726e..8e6b975d13644 100644 --- a/planning/planning_evaluator/CMakeLists.txt +++ b/planning/planning_evaluator/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(planning_evaluator) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(${PROJECT_NAME}_node SHARED src/metrics_calculator.cpp @@ -42,8 +33,6 @@ rclcpp_components_register_node(${PROJECT_NAME}_node ) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() ament_add_gtest(test_${PROJECT_NAME} test/test_planning_evaluator_node.cpp ) diff --git a/planning/route_handler/CMakeLists.txt b/planning/route_handler/CMakeLists.txt index 9337c272d85d1..fbbc22d0d946c 100644 --- a/planning/route_handler/CMakeLists.txt +++ b/planning/route_handler/CMakeLists.txt @@ -1,16 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(route_handler) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(route_handler SHARED src/route_handler.cpp @@ -23,10 +15,4 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -# Test -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package() diff --git a/planning/scenario_selector/CMakeLists.txt b/planning/scenario_selector/CMakeLists.txt index 443cbf7faf4e4..3bce9ef0504da 100644 --- a/planning/scenario_selector/CMakeLists.txt +++ b/planning/scenario_selector/CMakeLists.txt @@ -1,30 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(scenario_selector) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -## Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -# Target - -## Target executable -set(SCENARIO_SELECTOR_SRC - src/scenario_selector_node/scenario_selector_node.cpp -) +find_package(autoware_cmake REQUIRED) +autoware_package() -## scenario_selector_node ament_auto_add_library(scenario_selector_node SHARED - ${SCENARIO_SELECTOR_SRC} + src/scenario_selector_node/scenario_selector_node.cpp ) # workaround to allow deprecated header to build on both galactic and rolling @@ -39,11 +20,6 @@ rclcpp_components_register_node(scenario_selector_node EXECUTABLE scenario_selector ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/planning/surround_obstacle_checker/CMakeLists.txt b/planning/surround_obstacle_checker/CMakeLists.txt index 4f223c4db4a36..8216fd5c0a4a6 100644 --- a/planning/surround_obstacle_checker/CMakeLists.txt +++ b/planning/surround_obstacle_checker/CMakeLists.txt @@ -1,22 +1,12 @@ cmake_minimum_required(VERSION 3.5) project(surround_obstacle_checker) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -find_package(ament_cmake REQUIRED) find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) find_package(PCL REQUIRED COMPONENTS common) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() ament_auto_add_library(${PROJECT_NAME} SHARED src/debug_marker.cpp @@ -39,11 +29,6 @@ rclcpp_components_register_node(${PROJECT_NAME} EXECUTABLE ${PROJECT_NAME}_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE config diff --git a/sensing/geo_pos_conv/CMakeLists.txt b/sensing/geo_pos_conv/CMakeLists.txt index 501218f7f3e7a..38d9e83e1fe3d 100644 --- a/sensing/geo_pos_conv/CMakeLists.txt +++ b/sensing/geo_pos_conv/CMakeLists.txt @@ -1,28 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(geo_pos_conv) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -### Add dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -### Create library ament_auto_add_library(geo_pos_conv SHARED src/geo_pos_conv.cpp ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package() diff --git a/sensing/gnss_poser/CMakeLists.txt b/sensing/gnss_poser/CMakeLists.txt index 6f94465632dda..20ee8a3423b40 100644 --- a/sensing/gnss_poser/CMakeLists.txt +++ b/sensing/gnss_poser/CMakeLists.txt @@ -1,15 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(gnss_poser) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() ## Find non-ROS library find_package(PkgConfig) @@ -22,9 +15,6 @@ find_library(GeographicLib_LIBRARIES NAMES Geographic ) -find_package(ament_cmake_auto) -ament_auto_find_build_dependencies() - set(GNSS_POSER_HEADERS include/gnss_poser/convert.hpp include/gnss_poser/gnss_poser_core.hpp @@ -52,11 +42,6 @@ rclcpp_components_register_node(gnss_poser_node EXECUTABLE gnss_poser ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/sensing/image_transport_decompressor/CMakeLists.txt b/sensing/image_transport_decompressor/CMakeLists.txt index d6ce92e911f32..3d5b155aca479 100644 --- a/sensing/image_transport_decompressor/CMakeLists.txt +++ b/sensing/image_transport_decompressor/CMakeLists.txt @@ -1,22 +1,10 @@ cmake_minimum_required(VERSION 3.5) project(image_transport_decompressor) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - - -find_package(ament_cmake_auto) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(OpenCV REQUIRED) - include_directories( ${OpenCV_INCLUDE_DIRS} ) @@ -34,11 +22,6 @@ rclcpp_components_register_node(image_transport_decompressor EXECUTABLE image_transport_decompressor_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/sensing/imu_corrector/CMakeLists.txt b/sensing/imu_corrector/CMakeLists.txt index 903a6bcab07c5..707497cb692f7 100644 --- a/sensing/imu_corrector/CMakeLists.txt +++ b/sensing/imu_corrector/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(imu_corrector) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(imu_corrector_node SHARED src/imu_corrector_core.cpp @@ -24,11 +14,6 @@ rclcpp_components_register_node(imu_corrector_node EXECUTABLE imu_corrector ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/sensing/livox/livox_tag_filter/CMakeLists.txt b/sensing/livox/livox_tag_filter/CMakeLists.txt index bb0cf8166e3b3..a2af024b96861 100644 --- a/sensing/livox/livox_tag_filter/CMakeLists.txt +++ b/sensing/livox/livox_tag_filter/CMakeLists.txt @@ -1,24 +1,11 @@ cmake_minimum_required(VERSION 3.5) project(livox_tag_filter) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() find_package(PCL REQUIRED) -include_directories(${PCL_INCLUDE_DIRS}) -# Target -## livox_tag_filter_node ament_auto_add_library(livox_tag_filter SHARED src/livox_tag_filter_node/livox_tag_filter_node.cpp ) @@ -32,13 +19,6 @@ rclcpp_components_register_node(livox_tag_filter EXECUTABLE livox_tag_filter_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -# Install -## executables and libraries ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/sensing/pointcloud_preprocessor/CMakeLists.txt b/sensing/pointcloud_preprocessor/CMakeLists.txt index 2d2dc632fcf79..0c59f3094997a 100644 --- a/sensing/pointcloud_preprocessor/CMakeLists.txt +++ b/sensing/pointcloud_preprocessor/CMakeLists.txt @@ -1,34 +1,14 @@ cmake_minimum_required(VERSION 3.5) project(pointcloud_preprocessor) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -# Ignore PCL errors in Clang -if(CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wno-gnu-anonymous-struct -Wno-nested-anon-types) -endif() - -find_package(ament_cmake_auto REQUIRED) find_package(OpenCV REQUIRED) find_package(Eigen3 REQUIRED) find_package(Boost REQUIRED) find_package(PCL REQUIRED) -find_package(pcl_conversions REQUIRED) find_package(OpenMP) -ament_auto_find_build_dependencies() - - -########### -## Build ## -########### include_directories( include @@ -162,15 +142,6 @@ rclcpp_components_register_node(pointcloud_preprocessor_filter PLUGIN "pointcloud_preprocessor::BlockageDiagComponent" EXECUTABLE blockage_diag_node) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -############# -## Install ## -############# - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt b/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt index 7c3ce78a04dd8..7641039014076 100644 --- a/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt +++ b/sensing/probabilistic_occupancy_grid_map/CMakeLists.txt @@ -1,20 +1,12 @@ cmake_minimum_required(VERSION 3.5) project(probabilistic_occupancy_grid_map) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -find_package(ament_cmake_auto REQUIRED) find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) find_package(PCL REQUIRED) -ament_auto_find_build_dependencies() # PointcloudBasedOccupancyGridMap ament_auto_add_library(pointcloud_based_occupancy_grid_map SHARED @@ -55,16 +47,6 @@ rclcpp_components_register_node(laserscan_based_occupancy_grid_map EXECUTABLE laserscan_based_occupancy_grid_map_node ) - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - list(APPEND AMENT_LINT_AUTO_EXCLUDE - # To avoid conflicts between cpplint and uncrustify w.r.t. inclusion guards - ament_cmake_uncrustify - ) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE launch diff --git a/sensing/tier4_pcl_extensions/CMakeLists.txt b/sensing/tier4_pcl_extensions/CMakeLists.txt index 8eacc49d56d9c..ec2b127d33dcb 100644 --- a/sensing/tier4_pcl_extensions/CMakeLists.txt +++ b/sensing/tier4_pcl_extensions/CMakeLists.txt @@ -1,19 +1,10 @@ cmake_minimum_required(VERSION 3.5) project(tier4_pcl_extensions) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -find_package(ament_cmake_auto REQUIRED) find_package(PCL REQUIRED COMPONENTS common) - find_package(eigen3_cmake_module REQUIRED) find_package(Eigen3 REQUIRED) @@ -27,9 +18,4 @@ ament_auto_add_library(tier4_pcl_extensions SHARED target_link_libraries(tier4_pcl_extensions ${PCL_LIBRARIES}) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package() diff --git a/simulator/dummy_perception_publisher/CMakeLists.txt b/simulator/dummy_perception_publisher/CMakeLists.txt index 7a52146afc97f..2d6e99c960afc 100644 --- a/simulator/dummy_perception_publisher/CMakeLists.txt +++ b/simulator/dummy_perception_publisher/CMakeLists.txt @@ -1,24 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(dummy_perception_publisher) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -# Dependencies for messages -find_package(ament_cmake_auto REQUIRED) -find_package(rosidl_default_generators REQUIRED) -find_package(autoware_auto_perception_msgs REQUIRED) -find_package(tier4_perception_msgs REQUIRED) -find_package(geometry_msgs REQUIRED) -find_package(std_msgs REQUIRED) -find_package(unique_identifier_msgs REQUIRED) +find_package(autoware_cmake REQUIRED) +autoware_package() rosidl_generate_interfaces(${PROJECT_NAME} "msg/InitialState.msg" @@ -28,8 +12,6 @@ rosidl_generate_interfaces(${PROJECT_NAME} # See ndt_omp package for documentation on why PCL is special find_package(PCL REQUIRED COMPONENTS common filters) -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() set(${PROJECT_NAME}_DEPENDENCIES autoware_auto_perception_msgs @@ -99,11 +81,6 @@ ament_auto_add_executable(empty_objects_publisher ) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - - find_package(ament_cmake_gtest REQUIRED) - ament_add_gtest(signed_distance_function-test test/src/test_signed_distance_function.cpp ) diff --git a/simulator/fault_injection/CMakeLists.txt b/simulator/fault_injection/CMakeLists.txt index 89bccb4ecb55c..7b4b2ef56e550 100644 --- a/simulator/fault_injection/CMakeLists.txt +++ b/simulator/fault_injection/CMakeLists.txt @@ -4,8 +4,6 @@ project(fault_injection) find_package(autoware_cmake REQUIRED) autoware_package() - -## Targets ament_auto_add_library(fault_injection_node_component SHARED src/fault_injection_node/fault_injection_node.cpp ) @@ -22,7 +20,6 @@ rclcpp_components_register_node(fault_injection_node_component EXECUTABLE fault_injection_node ) -## Tests if(BUILD_TESTING) # gtest ament_add_gtest(test_fault_injection_node_component @@ -35,7 +32,6 @@ if(BUILD_TESTING) ) # launch_testing - find_package(launch_testing_ament_cmake REQUIRED) add_launch_test( test/test_fault_injection_node.test.py TARGET test_fault_injection_launch_test @@ -54,7 +50,6 @@ if(BUILD_TESTING) ) endif() -## Package ament_auto_package( INSTALL_TO_SHARE config diff --git a/simulator/simple_planning_simulator/CMakeLists.txt b/simulator/simple_planning_simulator/CMakeLists.txt index c262f13314848..899f8f45896f1 100644 --- a/simulator/simple_planning_simulator/CMakeLists.txt +++ b/simulator/simple_planning_simulator/CMakeLists.txt @@ -1,11 +1,8 @@ cmake_minimum_required(VERSION 3.6) - project(simple_planning_simulator) -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - +find_package(autoware_cmake REQUIRED) +autoware_package() # Component ament_auto_add_library(${PROJECT_NAME} SHARED @@ -37,12 +34,7 @@ rclcpp_components_register_node(${PROJECT_NAME} EXECUTABLE ${PROJECT_NAME}_exe ) - -### Test if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - ament_add_gtest(test_simple_planning_simulator test/test_simple_planning_simulator.cpp TIMEOUT 120 @@ -60,7 +52,4 @@ if(BUILD_TESTING) endif() endif() - - - ament_auto_package(INSTALL_TO_SHARE param launch) diff --git a/system/ad_service_state_monitor/CMakeLists.txt b/system/ad_service_state_monitor/CMakeLists.txt index c68afa92fdf26..9a4cf952c4f39 100644 --- a/system/ad_service_state_monitor/CMakeLists.txt +++ b/system/ad_service_state_monitor/CMakeLists.txt @@ -1,34 +1,16 @@ cmake_minimum_required(VERSION 3.5) project(ad_service_state_monitor) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() -# Target -## Set source files -set(AD_SERVICE_STATE_MONITOR_SRC +ament_auto_add_executable(ad_service_state_monitor + src/ad_service_state_monitor_node/main.cpp src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp src/ad_service_state_monitor_node/state_machine.cpp src/ad_service_state_monitor_node/diagnostics.cpp ) -## Add executables -ament_auto_add_executable(ad_service_state_monitor - src/ad_service_state_monitor_node/main.cpp - ${AD_SERVICE_STATE_MONITOR_SRC} -) - # workaround to allow deprecated header to build on both galactic and rolling if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) target_compile_definitions(ad_service_state_monitor PRIVATE @@ -36,11 +18,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/system/default_ad_api/CMakeLists.txt b/system/default_ad_api/CMakeLists.txt index d449f2ffa978c..fd256e1102568 100644 --- a/system/default_ad_api/CMakeLists.txt +++ b/system/default_ad_api/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.8) project(default_ad_api) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() - -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(${PROJECT_NAME} SHARED src/interface_version.cpp @@ -28,9 +18,6 @@ endif() rclcpp_components_register_nodes(${PROJECT_NAME} "default_ad_api::InterfaceVersionNode") if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - find_package(launch_testing_ament_cmake) add_launch_test(test/main.test.py) endif() diff --git a/system/dummy_diag_publisher/CMakeLists.txt b/system/dummy_diag_publisher/CMakeLists.txt index c2071d53de3cc..aa61b7a937ea8 100644 --- a/system/dummy_diag_publisher/CMakeLists.txt +++ b/system/dummy_diag_publisher/CMakeLists.txt @@ -1,19 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(dummy_diag_publisher) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(dummy_diag_publisher SHARED src/dummy_diag_publisher_node/dummy_diag_publisher_node.cpp @@ -24,11 +13,6 @@ rclcpp_components_register_node(dummy_diag_publisher EXECUTABLE dummy_diag_publisher_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/system/dummy_infrastructure/CMakeLists.txt b/system/dummy_infrastructure/CMakeLists.txt index c18bf3ab46cdd..f73fcbc338edd 100644 --- a/system/dummy_infrastructure/CMakeLists.txt +++ b/system/dummy_infrastructure/CMakeLists.txt @@ -1,22 +1,9 @@ cmake_minimum_required(VERSION 3.5) project(dummy_infrastructure) -## Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() +find_package(autoware_cmake REQUIRED) +autoware_package() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -## Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -## Targets ament_auto_add_library(dummy_infrastructure_node_component SHARED src/dummy_infrastructure_node/dummy_infrastructure_node.cpp ) @@ -26,13 +13,6 @@ rclcpp_components_register_node(dummy_infrastructure_node_component EXECUTABLE dummy_infrastructure_node ) -## Tests -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -## Package ament_auto_package( INSTALL_TO_SHARE config diff --git a/system/emergency_handler/CMakeLists.txt b/system/emergency_handler/CMakeLists.txt index a1daea31bf6ee..3e4eef0914e55 100644 --- a/system/emergency_handler/CMakeLists.txt +++ b/system/emergency_handler/CMakeLists.txt @@ -1,38 +1,14 @@ cmake_minimum_required(VERSION 3.5) project(emergency_handler) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 17) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -### Target executable -set(EMERGENCY_HANDLER_SRC - src/emergency_handler/emergency_handler_core.cpp) - -set(EMERGENCY_HANDLER_HEADERS - include/emergency_handler/emergency_handler_core.hpp) +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_executable(emergency_handler src/emergency_handler/emergency_handler_node.cpp - ${EMERGENCY_HANDLER_SRC} - ${EMERGENCY_HANDLER_HEADERS} + src/emergency_handler/emergency_handler_core.cpp ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/system/system_error_monitor/CMakeLists.txt b/system/system_error_monitor/CMakeLists.txt index fe824b040382f..ca55617e817b7 100644 --- a/system/system_error_monitor/CMakeLists.txt +++ b/system/system_error_monitor/CMakeLists.txt @@ -1,38 +1,14 @@ cmake_minimum_required(VERSION 3.5) project(system_error_monitor) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -# Target -## system_error_monitor_node -set(SYSTEM_ERROR_MONITOR_SRC - src/system_error_monitor_core.cpp -) +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_executable(${PROJECT_NAME} src/system_error_monitor_node.cpp - ${SYSTEM_ERROR_MONITOR_SRC} + src/system_error_monitor_core.cpp ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -# Install -## executables and libraries ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/system/system_monitor/CMakeLists.txt b/system/system_monitor/CMakeLists.txt index 1e12fb2b257a2..a41616db7cf6c 100644 --- a/system/system_monitor/CMakeLists.txt +++ b/system/system_monitor/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(system_monitor) -## Compile as C++14, supported in ROS Melodic and newer -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror -Wno-stringop-truncation) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() # TODO: remove (https://github.com/autowarefoundation/autoware.universe/issues/851) add_compile_options(-Wno-stringop-truncation) @@ -22,10 +12,6 @@ find_package(NVML) find_package(fmt REQUIRED) set(LIBRARIES fmt) -########### -## Build ## -########### - ## Specify additional locations of header files find_path(LIBNL3_INCLUDE_DIRS @@ -194,9 +180,6 @@ rclcpp_components_register_node(gpu_monitor_lib # TODO(yunus.caliskan): Port the tests to ROS2, robustify the tests. if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - # ament_add_gtest(test_cpu_monitor # test/src/cpu_monitor/test_${CMAKE_CPU_PLATFORM}_cpu_monitor.cpp # ${CPU_MONITOR_SOURCE} @@ -313,10 +296,6 @@ if(BUILD_TESTING) endif() -############# -## Install ## -############# - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/system/topic_state_monitor/CMakeLists.txt b/system/topic_state_monitor/CMakeLists.txt index cefc2f00e9d07..7af5f418ed5a6 100644 --- a/system/topic_state_monitor/CMakeLists.txt +++ b/system/topic_state_monitor/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(topic_state_monitor) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(topic_state_monitor SHARED src/topic_state_monitor/topic_state_monitor.cpp @@ -23,13 +14,6 @@ rclcpp_components_register_node(topic_state_monitor EXECUTABLE topic_state_monitor_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -# Install -## directories ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/system/velodyne_monitor/CMakeLists.txt b/system/velodyne_monitor/CMakeLists.txt index a8a037e83e044..bd9cd28bc0bc3 100644 --- a/system/velodyne_monitor/CMakeLists.txt +++ b/system/velodyne_monitor/CMakeLists.txt @@ -1,19 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(velodyne_monitor) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -### Dependencies -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ### Target executable ament_auto_add_executable(velodyne_monitor @@ -24,11 +13,6 @@ ament_auto_add_executable(velodyne_monitor ## Specify libraries to link a library or executable target against target_link_libraries(velodyne_monitor cpprest crypto fmt) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch config diff --git a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/CMakeLists.txt b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/CMakeLists.txt index 1bf8123c82a31..8cbfc626a077a 100644 --- a/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/CMakeLists.txt +++ b/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/CMakeLists.txt @@ -1,17 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(accel_brake_map_calibrator) -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_executable(accel_brake_map_calibrator src/accel_brake_map_calibrator_node.cpp @@ -26,11 +17,6 @@ if(${tf2_geometry_msgs_VERSION} VERSION_LESS 0.18.0) ) endif() -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - install( PROGRAMS scripts/__init__.py diff --git a/vehicle/external_cmd_converter/CMakeLists.txt b/vehicle/external_cmd_converter/CMakeLists.txt index b51f68db9c1de..b823588de265a 100644 --- a/vehicle/external_cmd_converter/CMakeLists.txt +++ b/vehicle/external_cmd_converter/CMakeLists.txt @@ -1,18 +1,8 @@ cmake_minimum_required(VERSION 3.5) project(external_cmd_converter) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(external_cmd_converter SHARED src/node.cpp @@ -23,11 +13,6 @@ rclcpp_components_register_node(external_cmd_converter EXECUTABLE external_cmd_converter_node ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package(INSTALL_TO_SHARE launch ) diff --git a/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt b/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt index 1c9f4a097f8a6..bb4ab068fcfeb 100644 --- a/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt +++ b/vehicle/raw_vehicle_cmd_converter/CMakeLists.txt @@ -1,19 +1,8 @@ cmake_minimum_required(VERSION 3.5) - project(raw_vehicle_cmd_converter) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(actuation_map_converter SHARED src/accel_map.cpp @@ -35,10 +24,6 @@ rclcpp_components_register_node(raw_vehicle_cmd_converter_node_component ) if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() - - # Unit tests set(TEST_SOURCES test/test_raw_vehicle_cmd_converter.cpp ) diff --git a/vehicle/vehicle_info_util/CMakeLists.txt b/vehicle/vehicle_info_util/CMakeLists.txt index 4b7f3b80160e4..192a74060f0fa 100644 --- a/vehicle/vehicle_info_util/CMakeLists.txt +++ b/vehicle/vehicle_info_util/CMakeLists.txt @@ -1,29 +1,13 @@ cmake_minimum_required(VERSION 3.5) project(vehicle_info_util) -### Compile options -if(NOT CMAKE_CXX_STANDARD) - set(CMAKE_CXX_STANDARD 14) - set(CMAKE_CXX_STANDARD_REQUIRED ON) - set(CMAKE_CXX_EXTENSIONS OFF) -endif() -if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") - add_compile_options(-Wall -Wextra -Wpedantic -Werror) -endif() - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - +find_package(autoware_cmake REQUIRED) +autoware_package() ament_auto_add_library(vehicle_info_util SHARED src/vehicle_info_util.cpp ) -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - ament_auto_package( INSTALL_TO_SHARE config