autoware_cmake

This package provides CMake scripts for Autoware.

Usage

autoware_package.cmake

Call autoware_package() before defining build targets, which will set common options for Autoware.

cmake_minimum_required(VERSION 3.5)
project(package_name)

find_package(autoware_cmake REQUIRED)
autoware_package()

ament_auto_add_library(...)

autoware_ament_auto_package.cmake

Use autoware_ament_auto_package() as a replacement for ament_auto_package() to maintain Autoware’s include structure across ROS 2 Humble, Jazzy, and Kilted.

This macro addresses a naming convention conflict between Autoware packages (which use autoware_<module> as package names) and Autoware include paths (which use autoware/<module>/). Starting with ROS 2 Kilted, ament_auto_package() will install headers to include/${PROJECT_NAME}/, which would create incorrect paths like include/autoware_interpolation/autoware/interpolation/.

Why use this?

• Eliminates deprecation warnings on ROS 2 Humble and Jazzy
• Future-proof: Works with ROS 2 Kilted+ without breaking changes
• Maintains conventions: Preserves autoware/<module>/ include structure
• Drop-in replacement: Zero behavior change from ament_auto_package()

Example

cmake_minimum_required(VERSION 3.14)
project(autoware_interpolation)

find_package(autoware_cmake REQUIRED)
autoware_package()

ament_auto_add_library(autoware_interpolation SHARED
  src/linear_interpolation.cpp
  src/spline_interpolation.cpp
)

if(BUILD_TESTING)
  # ... tests ...
endif()

# Use autoware_ament_auto_package() instead of ament_auto_package()
autoware_ament_auto_package()

Migration from ament_auto_package()

Simply replace ament_auto_package() with autoware_ament_auto_package() at the end of your CMakeLists.txt. All parameters supported by ament_auto_package() are also supported:

• INSTALL_TO_PATH: Install executables to bin/ instead of lib/${PROJECT_NAME}/
• INSTALL_TO_SHARE: Install additional directories to share/${PROJECT_NAME}/

Changelog for package autoware_cmake

1.1.0 (2025-11-10)

• feat: add autoware_ament_auto_package() macro (#37)
• feat: jazzy-porting, add jazzy distro condition for jazzy related compiling (#35) cmake env::jazzy-porting::add jazzy distro condition for jazzy related compiling
• fix: when using CMake >= 3.24 use CMAKE_COMPILE_WARNING_AS_ERROR variable instead of setting -Werror directly (#33)
• Contributors: Silvio Traversaro, Yutaka Kondo, 心刚

1.0.2 (2025-04-08)

• fix(autoware_package.cmake): workaround to avoid [missing tinyxml2::tinyxml2]{.title-ref} (#24)
  • add tinyxml2 workaround

  * move

• Contributors: Yutaka Kondo

1.0.1 (2025-03-17)

• fix(autoware_cmake): fix links to issues in CHANGELOG.rst files (#13)
• Contributors: Esteve Fernandez

1.0.0 (2024-05-02)

• Merge pull request #1 from youtalk/import-from-autoware-common feat: import from autoware_common
• add maintainer
• move to autoware_cmake
• Contributors: Yutaka Kondo