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carla
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carla/CMakeLists.txt

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CMake
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cmake_minimum_required (VERSION 3.12.0)
set (CARLA_VERSION_MAJOR 0)
set (CARLA_VERSION_MINOR 9)
set (CARLA_VERSION_PATCH 14)
set (CARLA_VERSION ${CARLA_VERSION_MAJOR}.${CARLA_VERSION_MINOR}.${CARLA_VERSION_PATCH})
project (
CARLA
VERSION ${CARLA_VERSION}
LANGUAGES CXX
DESCRIPTION "Open-source simulator for autonomous driving research."
HOMEPAGE_URL "https://carla.org/"
)
include (CheckCCompilerFlag)
include (CheckCXXCompilerFlag)
set (CMAKE_CXX_STANDARD 20)
set (CMAKE_CXX_STANDARD_REQUIRED ON)
set (CMAKE_EXPORT_COMPILE_COMMANDS ON)
option (
BUILD_LIBCARLA_CLIENT
"Build the LibCarla client."
ON)
option (
BUILD_LIBCARLA_SERVER
"Build the LibCarla server."
ON)
option (
ENABLE_LIBCARLA_PYTORCH
"Enable LibCarla-PyTorch."
OFF)
option (
BUILD_PYTHON_API
"Build the CARLA Python API."
ON)
option (
ENABLE_LIBCARLA_CLIENT_RSS
"Enable RSS components (ad-rss-lib)"
OFF)
option (
INSTALL_LIBCARLA
"Install LibCarla and all of its dependencies."
ON)
option (
BUILD_OSM_WORLD_RENDERER
"Build OSM World Renderer."
ON)
option (
ENABLE_RTTI
"Enable C++ RTTI."
OFF)
option (
ENABLE_EXCEPTIONS
"Enable C++ Exceptions."
OFF)
set (CARLA_WORKSPACE_PATH ${CMAKE_CURRENT_SOURCE_DIR})
set (CARLA_BUILD_PATH ${CMAKE_CURRENT_BINARY_DIR})
if (NOT CARLA_DEPENDENCIES_PATH)
set (CARLA_DEPENDENCIES_PATH ${CMAKE_CURRENT_BINARY_DIR}/Dependencies)
endif ()
configure_file (
${CARLA_WORKSPACE_PATH}/.clangd.in
${CARLA_WORKSPACE_PATH}/.clangd)
set (LIBCARLA_SOURCE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/LibCarla/source)
set (LIBCARLA_THIRD_PARTY_SOURCE_PATH ${LIBCARLA_SOURCE_PATH}/third-party)
set (PYTHONAPI_SOURCE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/PythonAPI)
set (BOOST_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/boost-install/include)
set (BOOST_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/boost-install/lib)
set (CHRONO_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/chrono-install/include)
set (CHRONO_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/chrono-install/lib)
set (EIGEN_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/eigen-install/include)
set (EIGEN_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/eigen-install/lib)
set (GOOGLETEST_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/gtest-install/include)
set (GOOGLETEST_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/gtest-install/lib)
set (LIBPNG_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/libpng-install/include)
set (LIBPNG_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/libpng-install/lib)
set (PROJ_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/proj-install/include)
set (PROJ_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/proj-install/lib)
set (RECAST_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/recast-install/include)
set (RECAST_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/recast-install/lib)
set (RPCLIB_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/rpclib-install/include)
set (RPCLIB_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/rpclib-install/lib)
set (SQLITE_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/sqlite-install/include)
set (SQLITE_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/sqlite-install/lib)
set (XERCESC_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/xercesc-install/include)
set (XERCESC_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/xercesc-install/lib)
set (ZLIB_INCLUDE_PATH ${CARLA_DEPENDENCIES_PATH}/zlib-install/include)
set (ZLIB_LIBRARY_PATH ${CARLA_DEPENDENCIES_PATH}/zlib-install/lib)
set (
CARLA_COMMON_DEFINITIONS
BOOST_ERROR_CODE_HEADER_ONLY
LIBCARLA_IMAGE_WITH_PNG_SUPPORT
)
if (WIN32)
# https://learn.microsoft.com/en-us/cpp/porting/modifying-winver-and-win32-winnt?view=msvc-170
list (APPEND CARLA_COMMON_DEFINITIONS _WIN32_WINNT=0x0601) # Windows 10
list (APPEND CARLA_COMMON_DEFINITIONS _CRT_SECURE_NO_WARNINGS)
endif ()
if (ENABLE_EXCEPTIONS)
else ()
list (APPEND CARLA_COMMON_DEFINITIONS ASIO_NO_EXCEPTIONS)
list (APPEND CARLA_COMMON_DEFINITIONS BOOST_NO_EXCEPTIONS)
list (APPEND CARLA_COMMON_DEFINITIONS LIBCARLA_NO_EXCEPTIONS)
list (APPEND CARLA_COMMON_DEFINITIONS PUGIXML_NO_EXCEPTIONS)
endif ()
if (ENABLE_RTTI)
else ()
list (APPEND CARLA_COMMON_DEFINITIONS BOOST_TYPE_INDEX_FORCE_NO_RTTI_COMPATIBILITY)
endif ()
if (BUILD_LIBCARLA_SERVER OR BUILD_LIBCARLA_CLIENT)
configure_file (
${LIBCARLA_SOURCE_PATH}/carla/Version.h.in
${LIBCARLA_SOURCE_PATH}/carla/Version.h)
endif ()
if (BUILD_LIBCARLA_SERVER)
project (carla-server)
set (LIBCARLA_SERVER_INCLUDE_PATHS
${LIBCARLA_SOURCE_PATH}
${BOOST_INCLUDE_PATH}
${RPCLIB_INCLUDE_PATH}
)
file (
GLOB
LIBCARLA_SERVER_SOURCES
${LIBCARLA_SOURCE_PATH}/carla/Buffer.cpp
${LIBCARLA_SOURCE_PATH}/carla/Exception.cpp
${LIBCARLA_SOURCE_PATH}/carla/geom/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/rpc/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/ros2/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/SensorHeaderSerializer.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.cpp
)
file (
GLOB
LIBCARLA_SERVER_SOURCES_THIRD_PARTY
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
)
file (
GLOB
LIBCARLA_SERVER_HEADERS
${LIBCARLA_SOURCE_PATH}/carla/*.h
${LIBCARLA_SOURCE_PATH}/carla/geom/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.h
${LIBCARLA_SOURCE_PATH}/carla/rpc/*.h
${LIBCARLA_SOURCE_PATH}/carla/ros2/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.h
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.h
${LIBCARLA_SOURCE_PATH}/compiler/*.h
)
file (
GLOB
LIBCARLA_SERVER_HEADERS_THIRD_PARTY
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
)
add_library (
carla-server STATIC
${LIBCARLA_SERVER_HEADERS}
${LIBCARLA_SERVER_SOURCES}
${LIBCARLA_SERVER_HEADERS_THIRD_PARTY}
${LIBCARLA_SERVER_SOURCES_THIRD_PARTY}
)
target_compile_options (
carla-server PRIVATE
/EHsc
)
target_include_directories (
carla-server PRIVATE
${LIBCARLA_SERVER_INCLUDE_PATHS}
)
target_compile_definitions (
carla-server PUBLIC
${CARLA_COMMON_DEFINITIONS}
)
install (TARGETS carla-server DESTINATION lib)
foreach (HEADER ${LIBCARLA_SERVER_HEADERS})
cmake_path (GET HEADER PARENT_PATH HEADER_PARENT)
cmake_path (RELATIVE_PATH HEADER_PARENT BASE_DIRECTORY ${LIBCARLA_SOURCE_PATH}/carla OUTPUT_VARIABLE HEADER_RELATIVE)
install (FILES ${HEADER} DESTINATION include/carla/${HEADER_RELATIVE})
endforeach ()
endif ()
if (BUILD_LIBCARLA_CLIENT)
project (carla-client)
set (
LIBCARLA_CLIENT_INCLUDE_PATHS
${LIBCARLA_SOURCE_PATH}
${BOOST_INCLUDE_PATH}
${RPCLIB_INCLUDE_PATH}
${RECAST_INCLUDE_PATH}
${LIBPNG_INCLUDE_PATH}
)
file (
GLOB
LIBCARLA_CLIENT_HEADERS
${LIBCARLA_SOURCE_PATH}/carla/*.h
${LIBCARLA_SOURCE_PATH}/carla/client/*.h
${LIBCARLA_SOURCE_PATH}/carla/client/detail/*.h
${LIBCARLA_SOURCE_PATH}/carla/geom/*.h
${LIBCARLA_SOURCE_PATH}/carla/image/*.h
${LIBCARLA_SOURCE_PATH}/carla/nav/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.h
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.h
${LIBCARLA_SOURCE_PATH}/carla/pointcloud/*.h
${LIBCARLA_SOURCE_PATH}/carla/profiler/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.h
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.h
${LIBCARLA_SOURCE_PATH}/carla/rpc/*.h
${LIBCARLA_SOURCE_PATH}/carla/ros2/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/data/*.h
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.h
${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.h
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.h
${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.h
${LIBCARLA_SOURCE_PATH}/compiler/*.h
)
if (ENABLE_LIBCARLA_CLIENT_RSS)
file (
GLOB
LIBCARLA_CLIENT_HEADERS_RSS
${LIBCARLA_SOURCE_PATH}/carla/rss/*.h
)
list (
APPEND
LIBCARLA_CLIENT_HEADERS
${LIBCARLA_CLIENT_HEADERS_RSS}
)
endif ()
file (
GLOB
LIBCARLA_CLIENT_HEADERS_THIRD_PARTY
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/moodycamel/*.h
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.hpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.h
)
file (
GLOB
LIBCARLA_CLIENT_SOURCES
${LIBCARLA_SOURCE_PATH}/carla/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/client/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/client/detail/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/geom/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/image/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/nav/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/opendrive/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/opendrive/parser/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/pointcloud/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/element/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/general/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/object/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/road/signal/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/rpc/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/ros2/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/sensor/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/sensor/data/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/sensor/s11n/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/detail/tcp/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/streaming/low_level/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/multigpu/*.cpp
${LIBCARLA_SOURCE_PATH}/carla/trafficmanager/*.cpp
)
if (ENABLE_LIBCARLA_CLIENT_RSS)
file (
GLOB
LIBCARLA_CLIENT_SOURCES_RSS
${LIBCARLA_SOURCE_PATH}/carla/rss/*.cpp
)
list (
APPEND
LIBCARLA_CLIENT_SOURCES
${LIBCARLA_CLIENT_SOURCES_RSS}
)
endif ()
file (
GLOB
LIBCARLA_CLIENT_SOURCES_THIRD_PARTY
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/odrSpiral/*.cpp
${LIBCARLA_THIRD_PARTY_SOURCE_PATH}/pugixml/*.cpp
)
add_library (
carla-client STATIC
${LIBCARLA_CLIENT_HEADERS}
${LIBCARLA_CLIENT_SOURCES}
${LIBCARLA_CLIENT_HEADERS_THIRD_PARTY}
${LIBCARLA_CLIENT_SOURCES_THIRD_PARTY}
)
target_include_directories (
carla-client PRIVATE
${LIBCARLA_CLIENT_INCLUDE_PATHS}
)
target_compile_definitions (
carla-client PUBLIC
${CARLA_COMMON_DEFINITIONS}
)
install (TARGETS carla-client DESTINATION lib)
foreach (HEADER ${LIBCARLA_CLIENT_HEADERS})
cmake_path (GET HEADER PARENT_PATH HEADER_PARENT)
cmake_path (RELATIVE_PATH HEADER_PARENT BASE_DIRECTORY ${LIBCARLA_SOURCE_PATH}/carla OUTPUT_VARIABLE HEADER_RELATIVE)
install (FILES ${HEADER} DESTINATION include/carla/${HEADER_RELATIVE})
endforeach ()
endif ()
if (BUILD_OSM_WORLD_RENDERER)
project (OsmMapRenderer)
set (OSM_RENDERER_PATH ${CARLA_WORKSPACE_PATH}/osm-world-renderer)
add_library (
LibOSMRenderer
${OSM_RENDERER_PATH}/OsmRenderer/src/OsmRenderer.cpp
${OSM_RENDERER_PATH}/OsmRenderer/src/MapDrawer.cpp
${OSM_RENDERER_PATH}/OsmRenderer/src/MapRasterizer.cpp
)
target_include_directories (
LibOSMRenderer PUBLIC
${OSM_RENDERER_PATH}/OsmRenderer/include
)
add_executable (
OSMWorldRenderer
${OSM_RENDERER_PATH}/OsmRenderer/main.cpp
)
target_link_libraries (OSMWorldRenderer PRIVATE LibOSMRenderer)
target_link_libraries (OSMWorldRenderer PRIVATE osmscout)
target_link_libraries (OSMWorldRenderer PRIVATE osmscout_map)
target_link_libraries (OSMWorldRenderer PRIVATE osmscout_map_svg)
target_link_libraries (OSMWorldRenderer PRIVATE lunasvg)
target_compile_definitions (
OSMWorldRenderer PUBLIC
_USE_MATH_DEFINES
${CARLA_COMMON_DEFINITIONS}
)
endif ()
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