# CMakeLists.txt

The `CMakeLists.txt` file configures the `cartographer_rviz` package for the `ament_cmake` build system. It requires CMake 3.5 or newer and defaults the C++ standard to C++17, turning on `-Wall -Wextra` for GCC and Clang. `CMAKE_AUTOMOC` is enabled so that the Qt meta-object compiler processes the plugin classes.

## Dependencies

The build imports several packages:

- `ament_cmake`, `cartographer` (which provides `$CARTOGRAPHER_CMAKE_DIR/functions.cmake`), `absl`, `cartographer_ros`, `cartographer_ros_msgs`, `Eigen3`, `pluginlib`, `rclcpp`, `rviz_common`, `rviz_ogre_vendor`, `rviz_rendering`, and `Threads`.
- `BUILD_SHARED_LIBS` is set to `OFF` and an option `BUILD_GRPC` (default `false`) is declared, both forwarded to the Cartographer project initialization helper `google_initialize_cartographer_project()`.

## Plugin library

The `rviz_plugins_headers_to_moc` list names the three public headers that must be run through the Qt MOC (`drawable_submap.h`, `ogre_slice.h`, `submaps_display.h`).

A shared library `cartographer_rviz` is built from:

- `src/drawable_submap.cpp`
- `src/ogre_slice.cpp`
- `src/submaps_display.cpp`
- plus the MOC'd headers

Public include directories are the source and build-time `include/` tree, and the library links publicly against `absl::synchronization`, `cartographer`, `cartographer_ros::cartographer_ros`, `Eigen3::Eigen`, `rclcpp`, `rviz_common`, `rviz_rendering`, and `tf2_ros`; `pluginlib` is a private dependency.

## Plugin and resource registration

- `pluginlib_export_plugin_description_file(rviz_common rviz_plugin_description.xml)` exports the plugin manifest so RViz can load `SubmapsDisplay`.
- `register_rviz_ogre_media_exports(...)` registers the `ogre_media/materials/glsl120` and `ogre_media/materials/scripts` directories as OGRE media resources.

## Install and export

The library target and the `include/` tree are installed under `include/${PROJECT_NAME}`. The package exports its include directories, library, build targets, and ament dependencies (`absl`, `cartographer`, `cartographer_ros`, `eigen`, `rclcpp`, `rviz_common`, `rviz_rendering`, `tf2_ros`) via `ament_export_*()`, then calls `ament_package()`.