Merge remote-tracking branch 'origin/ros' into jetson

extras/ros/rpt2d_wrapper_cpp/CMakeLists.txt

@@ -0,0 +1,69 @@
+cmake_minimum_required(VERSION 3.5)
+project(rpt2d_wrapper_cpp)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++17
+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)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(cv_bridge REQUIRED)
+find_package(OpenCV REQUIRED)
+
+### 3) ONNX Runtime
+# for desktop
+include_directories(/onnxruntime/include/
+                    /onnxruntime/include/onnxruntime/core/session/
+                    /onnxruntime/include/onnxruntime/core/providers/tensorrt/)
+link_directories(/onnxruntime/build/Linux/Release/)
+# for jetson
+include_directories(/usr/local/include/onnxruntime/)
+link_directories(/usr/local/lib/)
+
+add_executable(rpt2d_wrapper src/rpt2d_wrapper.cpp)
+ament_target_dependencies(rpt2d_wrapper rclcpp std_msgs sensor_msgs cv_bridge)
+target_include_directories(rpt2d_wrapper PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+target_link_libraries(rpt2d_wrapper
+  ${OpenCV_LIBS}
+  onnxruntime_providers_tensorrt
+  onnxruntime_providers_shared
+  onnxruntime_providers_cuda
+  onnxruntime
+)
+
+set_target_properties(rpt2d_wrapper PROPERTIES
+  BUILD_WITH_INSTALL_RPATH TRUE
+  INSTALL_RPATH "/onnxruntime/build/Linux/Release"
+)
+
+install(TARGETS rpt2d_wrapper
+  DESTINATION lib/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()