Build with release and refactor some CMakeLists.txt files

bit-bots · Jan 5, 2025 · 926c663 · 926c663
1 parent f2a9b9d
commit 926c663
Show file tree

Hide file tree

Showing 29 changed files with 296 additions and 608 deletions.
diff --git a/bitbots_behavior/bitbots_blackboard/CMakeLists.txt b/bitbots_behavior/bitbots_blackboard/CMakeLists.txt
@@ -1,81 +1,12 @@
 cmake_minimum_required(VERSION 3.5)
 project(bitbots_blackboard)
 
-# Add support for C++17
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-endif()
-
-find_package(bio_ik_msgs REQUIRED)
-find_package(ament_cmake REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(rclpy REQUIRED)
-find_package(tf2 REQUIRED)
-find_package(bitbots_msgs REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
-find_package(std_srvs REQUIRED)
-find_package(geometry_msgs REQUIRED)
 find_package(bitbots_docs REQUIRED)
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
 
-set(INCLUDE_DIRS
-    ${bio_ik_msgs_INCLUDE_DIRS}
-    ${ament_cmake_INCLUDE_DIRS}
-    ${sensor_msgs_INCLUDE_DIRS}
-    ${rclpy_INCLUDE_DIRS}
-    ${tf2_INCLUDE_DIRS}
-    ${bitbots_msgs_INCLUDE_DIRS}
-    ${std_msgs_INCLUDE_DIRS}
-    ${tf2_geometry_msgs_INCLUDE_DIRS}
-    ${std_srvs_INCLUDE_DIRS}
-    ${geometry_msgs_INCLUDE_DIRS}
-    ${bitbots_docs_INCLUDE_DIRS})
-include_directories(${INCLUDE_DIRS})
-
-set(LIBRARY_DIRS
-    ${bio_ik_msgs_LIBRARY_DIRS}
-    ${ament_cmake_LIBRARY_DIRS}
-    ${sensor_msgs_LIBRARY_DIRS}
-    ${rclpy_LIBRARY_DIRS}
-    ${tf2_LIBRARY_DIRS}
-    ${bitbots_msgs_LIBRARY_DIRS}
-    ${std_msgs_LIBRARY_DIRS}
-    ${tf2_geometry_msgs_LIBRARY_DIRS}
-    ${std_srvs_LIBRARY_DIRS}
-    ${geometry_msgs_LIBRARY_DIRS}
-    ${bitbots_docs_LIBRARY_DIRS})
-
-link_directories(${LIBRARY_DIRS})
-
-set(LIBS
-    ${bio_ik_msgs_LIBRARIES}
-    ${ament_cmake_LIBRARIES}
-    ${sensor_msgs_LIBRARIES}
-    ${rclpy_LIBRARIES}
-    ${tf2_LIBRARIES}
-    ${bitbots_msgs_LIBRARIES}
-    ${std_msgs_LIBRARIES}
-    ${tf2_geometry_msgs_LIBRARIES}
-    ${std_srvs_LIBRARIES}
-    ${geometry_msgs_LIBRARIES}
-    ${bitbots_docs_LIBRARIES})
-
-include(${CMAKE_BINARY_DIR}/../bitbots_docs/enable_bitbots_docs.cmake)
 enable_bitbots_docs()
 
-ament_export_dependencies(bio_ik_msgs)
-ament_export_dependencies(ament_cmake)
-ament_export_dependencies(sensor_msgs)
-ament_export_dependencies(rclpy)
-ament_export_dependencies(tf2)
-ament_export_dependencies(bitbots_msgs)
-ament_export_dependencies(std_msgs)
-ament_export_dependencies(tf2_geometry_msgs)
-ament_export_dependencies(std_srvs)
-ament_export_dependencies(geometry_msgs)
-ament_export_dependencies(bitbots_docs)
-ament_export_include_directories(${INCLUDE_DIRS})
-
 ament_python_install_package(${PROJECT_NAME})
 
 ament_package()
diff --git a/bitbots_lowlevel/bitbots_buttons/CMakeLists.txt b/bitbots_lowlevel/bitbots_buttons/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(backward_ros REQUIRED)
 find_package(bitbots_docs REQUIRED)

diff --git a/bitbots_lowlevel/bitbots_ros_control/CMakeLists.txt b/bitbots_lowlevel/bitbots_ros_control/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(backward_ros REQUIRED)
 find_package(bitbots_buttons REQUIRED)

diff --git a/bitbots_misc/bitbots_basler_camera/CMakeLists.txt b/bitbots_misc/bitbots_basler_camera/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(backward_ros REQUIRED)

diff --git a/bitbots_misc/bitbots_extrinsic_calibration/CMakeLists.txt b/bitbots_misc/bitbots_extrinsic_calibration/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(geometry_msgs REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(ament_cmake REQUIRED)

diff --git a/bitbots_misc/bitbots_robot_description/CMakeLists.txt b/bitbots_misc/bitbots_robot_description/CMakeLists.txt
@@ -4,12 +4,6 @@ project(bitbots_robot_description)
 find_package(bitbots_docs REQUIRED)
 find_package(ament_cmake REQUIRED)
 
-set(INCLUDE_DIRS include)
-include_directories(${INCLUDE_DIRS})
-
-set(CMAKE_CXX_STANDARD 17)
-add_compile_options(-Wall -Werror -Wno-unused -pedantic -Wextra)
-
 enable_bitbots_docs()
 
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})

diff --git a/bitbots_misc/bitbots_tf_buffer/CMakeLists.txt b/bitbots_misc/bitbots_tf_buffer/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 set(PYBIND11_PYTHON_VERSION 3)
 set(PYBIND11_FINDPYTHON ON)
 find_package(ament_cmake REQUIRED)

diff --git a/bitbots_misc/bitbots_utils/CMakeLists.txt b/bitbots_misc/bitbots_utils/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(bitbots_docs REQUIRED)
 find_package(ament_cmake REQUIRED)
 find_package(ament_cmake_python REQUIRED)

diff --git a/bitbots_motion/bitbots_dynamic_kick/CMakeLists.txt b/bitbots_motion/bitbots_dynamic_kick/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(bitbots_docs REQUIRED)
 find_package(biped_interfaces REQUIRED)

diff --git a/bitbots_motion/bitbots_dynup/CMakeLists.txt b/bitbots_motion/bitbots_dynup/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 20)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 set(PYBIND11_PYTHON_VERSION 3)
 set(PYBIND11_FINDPYTHON ON)
 

diff --git a/bitbots_motion/bitbots_hcm/CMakeLists.txt b/bitbots_motion/bitbots_hcm/CMakeLists.txt
@@ -1,6 +1,11 @@
 cmake_minimum_required(VERSION 3.5)
 project(bitbots_hcm)
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 set(PYBIND11_PYTHON_VERSION 3)
 set(PYBIND11_FINDPYTHON ON)
 find_package(ament_cmake REQUIRED)
@@ -19,7 +24,7 @@ find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
 
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
-  add_compile_options(-fvisibility=hidden)
+  add_compile_options(-fvisibility=hidden -Wall -Wextra -Wpedantic)
 endif()
 
 include_directories(${PYTHON_INCLUDE_DIRS})

diff --git a/bitbots_motion/bitbots_head_mover/CMakeLists.txt b/bitbots_motion/bitbots_head_mover/CMakeLists.txt
@@ -1,6 +1,12 @@
 cmake_minimum_required(VERSION 3.8)
 project(bitbots_head_mover)
 
+
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()

diff --git a/bitbots_motion/bitbots_moveit_bindings/CMakeLists.txt b/bitbots_motion/bitbots_moveit_bindings/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 set(PYBIND11_PYTHON_VERSION 3)
 set(PYBIND11_FINDPYTHON ON)
 find_package(bitbots_docs REQUIRED)

diff --git a/bitbots_motion/bitbots_quintic_walk/CMakeLists.txt b/bitbots_motion/bitbots_quintic_walk/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 20)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 set(PYBIND11_PYTHON_VERSION 3)
 set(PYBIND11_FINDPYTHON ON)
 find_package(ament_cmake REQUIRED)

diff --git a/bitbots_motion/bitbots_rl_motion/CMakeLists.txt b/bitbots_motion/bitbots_rl_motion/CMakeLists.txt
@@ -1,37 +1,11 @@
 cmake_minimum_required(VERSION 3.5)
 project(bitbots_rl_motion)
 
-# Add support for C++17
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-endif()
-
-find_package(rclpy REQUIRED)
-find_package(std_msgs REQUIRED)
 find_package(ament_cmake REQUIRED)
 find_package(bitbots_docs REQUIRED)
 
-set(INCLUDE_DIRS ${rclpy_INCLUDE_DIRS} ${std_msgs_INCLUDE_DIRS}
-                 ${ament_cmake_INCLUDE_DIRS} ${bitbots_docs_INCLUDE_DIRS})
-include_directories(${INCLUDE_DIRS})
-
-set(LIBRARY_DIRS ${rclpy_LIBRARY_DIRS} ${std_msgs_LIBRARY_DIRS}
-                 ${ament_cmake_LIBRARY_DIRS} ${bitbots_docs_LIBRARY_DIRS})
-
-link_directories(${LIBRARY_DIRS})
-
-set(LIBS ${rclpy_LIBRARIES} ${std_msgs_LIBRARIES} ${ament_cmake_LIBRARIES}
-         ${bitbots_docs_LIBRARIES})
-
-include(${CMAKE_BINARY_DIR}/../bitbots_docs/enable_bitbots_docs.cmake)
 enable_bitbots_docs()
 
-ament_export_dependencies(rclpy)
-ament_export_dependencies(std_msgs)
-ament_export_dependencies(ament_cmake)
-ament_export_dependencies(bitbots_docs)
-ament_export_include_directories(${INCLUDE_DIRS})
-
 install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})
 install(DIRECTORY rl_walk_models DESTINATION share/${PROJECT_NAME})

diff --git a/bitbots_motion/bitbots_splines/CMakeLists.txt b/bitbots_motion/bitbots_splines/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(bitbots_docs REQUIRED)
 find_package(rclcpp REQUIRED)

diff --git a/bitbots_msgs/CMakeLists.txt b/bitbots_msgs/CMakeLists.txt
@@ -1,6 +1,11 @@
 cmake_minimum_required(VERSION 3.5)
 project(bitbots_msgs)
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(action_msgs REQUIRED)

diff --git a/bitbots_navigation/bitbots_localization/CMakeLists.txt b/bitbots_navigation/bitbots_localization/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(ament_index_cpp REQUIRED)
 find_package(backward_ros REQUIRED)

diff --git a/bitbots_navigation/bitbots_odometry/CMakeLists.txt b/bitbots_navigation/bitbots_odometry/CMakeLists.txt
@@ -6,6 +6,11 @@ if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
 endif()
 
+# Build with release optimizations and debug symbols by default
+if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
+  set(CMAKE_BUILD_TYPE RelWithDebug)
+endif()
+
 find_package(ament_cmake REQUIRED)
 find_package(biped_interfaces REQUIRED)
 find_package(bitbots_docs REQUIRED)

diff --git a/bitbots_robot/wolfgang_animations/CMakeLists.txt b/bitbots_robot/wolfgang_animations/CMakeLists.txt
@@ -1,28 +1,11 @@
 cmake_minimum_required(VERSION 3.5)
 project(wolfgang_animations)
 
-# Add support for C++17
-if(NOT CMAKE_CXX_STANDARD)
-  set(CMAKE_CXX_STANDARD 17)
-endif()
-
 find_package(ament_cmake REQUIRED)
+find_package(bitbots_docs REQUIRED)
 
-set(INCLUDE_DIRS ${ament_cmake_INCLUDE_DIRS})
-include_directories(${INCLUDE_DIRS})
-
-set(LIBRARY_DIRS ${ament_cmake_LIBRARY_DIRS})
-
-link_directories(${LIBRARY_DIRS})
-
-set(LIBS ${ament_cmake_LIBRARIES})
-
-include(${CMAKE_BINARY_DIR}/../bitbots_docs/enable_bitbots_docs.cmake)
 enable_bitbots_docs()
 
-ament_export_dependencies(ament_cmake)
-ament_export_include_directories(${INCLUDE_DIRS})
-
 install(DIRECTORY animations DESTINATION share/${PROJECT_NAME})
 
 ament_package()