From b5658b3233264b2ea6bf61e43241851d79181589 Mon Sep 17 00:00:00 2001
From: zhengmz <zhengmz@armsdrone.com>
Date: Thu, 2 Jul 2026 14:11:57 +0800
Subject: [PATCH] update CMakeLists.txt
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1. 修复 Sophus 库的引用问题
2. 修复 vikit_common 和 vikit_ros 的库引用问题
---
 CMakeLists.txt | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index af27e8a0..4e4153ed 100755
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -126,7 +126,7 @@ set(dependencies
   livox_ros_driver2
 )
 
-set(COMMON_DEPENDENCIES OpenMP::OpenMP_CXX fmt::fmt)
+set(COMMON_DEPENDENCIES OpenMP::OpenMP_CXX fmt::fmt Sophus::Sophus)
 
 # link_directories(${COMMON_DEPENDENCIES}
 #   ${vikit_common_LIBRARIES}/libvikit_common.so
@@ -141,7 +141,7 @@ add_library(imu_proc src/IMU_Processing.cpp)
 add_library(laser_mapping src/LIVMapper.cpp)
 add_library(utils src/utils.cpp)
 
-ament_target_dependencies(vio ${dependencies} )
+ament_target_dependencies(vio ${dependencies})
 ament_target_dependencies(lio ${dependencies})
 ament_target_dependencies(pre ${dependencies})
 ament_target_dependencies(imu_proc ${dependencies})
@@ -149,8 +149,8 @@ ament_target_dependencies(laser_mapping ${dependencies})
 
 # linking libraries or executables to public dependencies
 target_link_libraries(laser_mapping 
-    ${CMAKE_SOURCE_DIR}/../../install/vikit_common/lib/libvikit_common.so 
-    ${CMAKE_SOURCE_DIR}/../../install/vikit_ros/lib/libvikit_ros.so
+    ${vikit_common_LIBRARIES}
+    ${vikit_ros_LIBRARIES}
     ${COMMON_DEPENDENCIES}
 )
 target_link_libraries(vio ${COMMON_DEPENDENCIES})