p71924506
/
carla
mirror of https://github.com/carla-simulator/carla.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity
carla/LibCarla/cmake/CMakeLists.txt

38 lines
1.3 KiB
CMake
Raw Permalink Normal View History

Change cmake version from 3.9 to 3.5 No feature of cmake newer than 3.5 is used. Therefore, we can use cmake 3.5, which is also standard in Ubuntu 16.04, whereas cmake 3.9 is non-standard.
2018-11-20 21:18:40 +08:00
cmake_minimum_required(VERSION 3.5.1)
Add LibCarla module
2018-07-04 17:11:49 +08:00
project(libcarla)
Split LibCarla build into debug and release
2019-03-13 21:57:44 +08:00
option(LIBCARLA_BUILD_DEBUG "Build debug configuration" ON)
option(LIBCARLA_BUILD_RELEASE "Build release configuration" ON)
option(LIBCARLA_BUILD_TEST "Build unit tests" ON)
message(STATUS "Build debug: ${LIBCARLA_BUILD_DEBUG}")
message(STATUS "Build release: ${LIBCARLA_BUILD_RELEASE}")
message(STATUS "Build test: ${LIBCARLA_BUILD_TEST}")
Add LibCarla module
2018-07-04 17:11:49 +08:00
set(libcarla_source_path "${PROJECT_SOURCE_DIR}/../source")
Move third-party code in LibCarla to a third-party folder
2019-07-01 18:09:28 +08:00
set(libcarla_source_thirdparty_path "${libcarla_source_path}/third-party")
Add LibCarla module
2018-07-04 17:11:49 +08:00
include_directories(${libcarla_source_path})
Move third-party code in LibCarla to a third-party folder
2019-07-01 18:09:28 +08:00
include_directories(${libcarla_source_thirdparty_path})
Add LibCarla module
2018-07-04 17:11:49 +08:00
Fix LibCarla recompiles after each commit
2019-03-12 22:09:32 +08:00
if (CARLA_VERSION)
configure_file(${libcarla_source_path}/carla/Version.h.in ${libcarla_source_path}/carla/Version.h)
endif()
Add LibCarla module
2018-07-04 17:11:49 +08:00
if (CMAKE_BUILD_TYPE STREQUAL "Client")
add_subdirectory("client")
elseif (CMAKE_BUILD_TYPE STREQUAL "Server")
add_subdirectory("server")
Pytorch integration with terramechanics (#5684) * Added sparse map reprsentation * Added pytorch for terramechanics modules * Added saving loading particles in independent thread * Added blank space at the EOF * Added texture creation lambda * Moving function to component * Added input/output architecture for neural network * Filling heightmap with particles data. Adding Logging to debug * Updating Texture data at realtime * Connected 3 stages, using MPC Position to Update and Texture * Added square particle sampling. Added second model input/output scheme. Fixed start up crash. * Added new flags and fixes * Position to update not updating in material but yes in MPC * Fixed coordinate frame issues and crashes * Prepared to follow position in the 1st vehicle in map * Fixed height map alignment * Fixed large map and terrain tiles alignment * Fixed inputs for new model * Added scale factor * Fixed slow read write operations * Bug fixes * Removed debug output * Removed nvidia profinling marks * Preparing merge debug code removed, runtime working by rounding the loading data properly * Made pytorch optional module * Added TRACE_CPUPROFILER_EVENT_SCOPE to Update and UpdateTexture * Added optional pytorch conditions and macros * Removed static Path * Fixed #ifdef clause. Added missing include. * Deformation on vehicle working. Ready to start optimisation * First optimsation done. Heightmap per Tile * Updated tiles'heightmap to make their size relative to texture and tilesize * Fixed slow frames. Added functionality * Removed unecessary library links * Fixed pytorch link * Limited search to relevant tiles * Added multithreaded particle search. Fixed cuda architectures compilation * Deformation plane added * Added missing resources * Updated particle movement update methods * Spawn on runtime deformation plane * Added cachemap lock when initializing a region * Added UHeightMapDataAsset to hold heightmap data * Fixing some settings Co-authored-by: Aaron <samaniegoaaron112@gmail.com> Co-authored-by: bernatx <bernatx@gmail.com>
2022-09-23 21:39:09 +08:00
elseif (CMAKE_BUILD_TYPE STREQUAL "Pytorch")
add_subdirectory("pytorch")
Ros2 (#6862) * Adding ROS2 manager * Trying to compile fastDDS in windows, but have problems with dependencies * Camera sensors connected to ROS2, dependencies disabled temporaly * Including enum with sensors list * adding GNSS sensor capture * adding IMU sensor capture * adding DVS sensor capture * adding Lidar sensor capture * adding SemanticLidar and Radar capture * adding ObstacleDetector and some fixes * modify cmakelists, failed to find libatomic * fixed libatomic * compile fast-dds with libc++ * fixed compliation fast dds with libcxx * linked carla with fastdds * Fixed Fast-DDS lib Now its compiled to a intermediate lib with a bridge so libstdc++ can be used * moved all ros2 deps to ros2 folder renamed types from .cxx to .cpp * Finally FastDDS compiled and working inside CARLA * exposed publish function for testing * fixed code style * make ros2 optional * make ros2 optional * Added defines to compile ROS2 code * ros image publisher working * deleted some buffer copies * Added more topics and ROS2 types * Adding sensor Transform as argument, and add function to send buffer or serialize and send buffer * Removing empty buffer from DVS sensor * fixed lidar publisher * fixed lidar publisher * Fix buffer of RGB in ROS2 * adding timestamp of each frame into ROS2 manager * sending timestamps with frame to ROS2 * put apart timestamp from frame counter call * adding BufferView to share buffers * adding BufferView to share buffers * adding ros_name attribute to all actors * mapping ros_name for each actor * ROS2 is now published in a different thread Publishers now can be created on demand and be reused Added subscriber for ego vehicle Fixed build scripts * forgot to add this fix * add ros2 to windows scripts * fixed default ros topic names * fix topic name duplication * Adding functions for enable/disable sensors publishing without listen to it * Added Camera info and ROI types RGB Camera now publishes in both topics * move camera info immutable data to the constructor * Publish transform for all topics Create Camera DVS subtopics Fixed bug with Lidar * Added flip Y to semantic lidar * Adding callbacks for subscribers from Unreal * Adding camera info to ROS2 (resolution and FOV) * Finished ROS2 naming from python * Fixed bug with ros names * Delete topics when deleting the sensors * setting the rosname same as default no longer rewrites it * ROS transform fix * Added all camera topics with the image and camera info Added vehicle control Added clock publisher * Change ros2 topic names for vehicle subscriber and clock publisher * Rename vehicle control ros2 topic name * rename subscriber type to CarlaEgoVehicleControl * Fix semantic lidar default ros name Fix sizeof the semantic lidar data buffer * Changed controller stored as string to pointer * Back to previous version for default hero ros name Removed debug prints * Remvoe callback when ego publisher disconnects * Serializing DVS data before sending to ROS * dvs camera image and lidar * DVS Pointcloud publishing * Remove unnecessary fields * Send local transforms to ros * avoid transform recalculation if not needed * Optical Flow Camera fixed * Set fixed branch for Fast-DDS to avoid cmake version change issues * Finally Working on package * Fix style from FastDDS auto generated files * Added ros2 to ubuntu in jenkins * removed ros2 from jenkins, test * restore ros2 in jenkins * fix copy shareds, and removed server dependency from libcarla * test installing the fastdds dependencies in jenkins * move installing deps to separate stage * removed install deps * Fixing test_benchmark_streaming * Fixed imu orientation and camera info data * Fixing test_benchmark_streaming.cpp with BufferView * Removing DEBUG_ONLY() * publish collision sensor * Fixing unit-tests with the new BufferView * camera info is set once * Fix echo camera info * fix transform rotation * Fixing ros_name attribute creation * fixed camera info and region of interest publish * fix IMU compass * Forgot to add ros2 flag to jenkins package --------- Co-authored-by: bernatx <bernatx@gmail.com>
2023-11-06 19:34:07 +08:00
elseif (CMAKE_BUILD_TYPE STREQUAL "ros2")
add_subdirectory("fast_dds")
Add LibCarla module
2018-07-04 17:11:49 +08:00
else ()
message(FATAL_ERROR "Unknown build type '${CMAKE_BUILD_TYPE}'")
endif ()
Compile server pipeline with -fno-exceptions, split unit tests for client and server
2019-01-27 00:27:14 +08:00
# GTest is not compiled on Windows.
Ros2 (#6862) * Adding ROS2 manager * Trying to compile fastDDS in windows, but have problems with dependencies * Camera sensors connected to ROS2, dependencies disabled temporaly * Including enum with sensors list * adding GNSS sensor capture * adding IMU sensor capture * adding DVS sensor capture * adding Lidar sensor capture * adding SemanticLidar and Radar capture * adding ObstacleDetector and some fixes * modify cmakelists, failed to find libatomic * fixed libatomic * compile fast-dds with libc++ * fixed compliation fast dds with libcxx * linked carla with fastdds * Fixed Fast-DDS lib Now its compiled to a intermediate lib with a bridge so libstdc++ can be used * moved all ros2 deps to ros2 folder renamed types from .cxx to .cpp * Finally FastDDS compiled and working inside CARLA * exposed publish function for testing * fixed code style * make ros2 optional * make ros2 optional * Added defines to compile ROS2 code * ros image publisher working * deleted some buffer copies * Added more topics and ROS2 types * Adding sensor Transform as argument, and add function to send buffer or serialize and send buffer * Removing empty buffer from DVS sensor * fixed lidar publisher * fixed lidar publisher * Fix buffer of RGB in ROS2 * adding timestamp of each frame into ROS2 manager * sending timestamps with frame to ROS2 * put apart timestamp from frame counter call * adding BufferView to share buffers * adding BufferView to share buffers * adding ros_name attribute to all actors * mapping ros_name for each actor * ROS2 is now published in a different thread Publishers now can be created on demand and be reused Added subscriber for ego vehicle Fixed build scripts * forgot to add this fix * add ros2 to windows scripts * fixed default ros topic names * fix topic name duplication * Adding functions for enable/disable sensors publishing without listen to it * Added Camera info and ROI types RGB Camera now publishes in both topics * move camera info immutable data to the constructor * Publish transform for all topics Create Camera DVS subtopics Fixed bug with Lidar * Added flip Y to semantic lidar * Adding callbacks for subscribers from Unreal * Adding camera info to ROS2 (resolution and FOV) * Finished ROS2 naming from python * Fixed bug with ros names * Delete topics when deleting the sensors * setting the rosname same as default no longer rewrites it * ROS transform fix * Added all camera topics with the image and camera info Added vehicle control Added clock publisher * Change ros2 topic names for vehicle subscriber and clock publisher * Rename vehicle control ros2 topic name * rename subscriber type to CarlaEgoVehicleControl * Fix semantic lidar default ros name Fix sizeof the semantic lidar data buffer * Changed controller stored as string to pointer * Back to previous version for default hero ros name Removed debug prints * Remvoe callback when ego publisher disconnects * Serializing DVS data before sending to ROS * dvs camera image and lidar * DVS Pointcloud publishing * Remove unnecessary fields * Send local transforms to ros * avoid transform recalculation if not needed * Optical Flow Camera fixed * Set fixed branch for Fast-DDS to avoid cmake version change issues * Finally Working on package * Fix style from FastDDS auto generated files * Added ros2 to ubuntu in jenkins * removed ros2 from jenkins, test * restore ros2 in jenkins * fix copy shareds, and removed server dependency from libcarla * test installing the fastdds dependencies in jenkins * move installing deps to separate stage * removed install deps * Fixing test_benchmark_streaming * Fixed imu orientation and camera info data * Fixing test_benchmark_streaming.cpp with BufferView * Removing DEBUG_ONLY() * publish collision sensor * Fixing unit-tests with the new BufferView * camera info is set once * Fix echo camera info * fix transform rotation * Fixing ros_name attribute creation * fixed camera info and region of interest publish * fix IMU compass * Forgot to add ros2 flag to jenkins package --------- Co-authored-by: bernatx <bernatx@gmail.com>
2023-11-06 19:34:07 +08:00
if ((LIBCARLA_BUILD_TEST) AND (NOT WIN32) AND (NOT (CMAKE_BUILD_TYPE STREQUAL "Pytorch")) AND (NOT (CMAKE_BUILD_TYPE STREQUAL "ros2")))
Compile server pipeline with -fno-exceptions, split unit tests for client and server
2019-01-27 00:27:14 +08:00
add_subdirectory("test")
endif()