### Package Installation

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/system/autoware_diagnostic_graph_aggregator/CMakeLists.txt

Configures the package to install configuration files, examples, and launch files to the share directory.

```cmake
ament_auto_package(INSTALL_TO_SHARE config example launch)
```

--------------------------------

### Package Installation Setup

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/perception/autoware_euclidean_cluster/CMakeLists.txt

Configures the ament package to install launch, config, and test directories to the share location.

```cmake
autoware_ament_auto_package(INSTALL_TO_SHARE
    launch
    config
    test
)
```

--------------------------------

### Project Setup and Package Definition

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/control/autoware_spheric_collision_detector/CMakeLists.txt

Initializes the CMake project and defines the package name. This is a standard starting point for any CMake project.

```cmake
cmake_minimum_required(VERSION 3.14)
project(autoware_spheric_collision_detector)
```

--------------------------------

### Install Package Resources

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/sensing/autoware_cuda_pointcloud_preprocessor/CMakeLists.txt

Installs launch files and configuration directories to the share directory of the package. Also installs the shared library for the preprocessor.

```cmake
install(DIRECTORY launch config
  DESTINATION share/${PROJECT_NAME}
)

install(
  TARGETS cuda_pointcloud_preprocessor_lib
  LIBRARY DESTINATION lib
)
```

--------------------------------

### Package Installation

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/planning/autoware_trajectory_validator/CMakeLists.txt

Configures the package for installation, including installing configuration files to the share directory.

```cmake
autoware_ament_auto_package(
  INSTALL_TO_SHARE
  config
)
```

--------------------------------

### Package Installation

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/system/autoware_topic_state_monitor/CMakeLists.txt

Installs the launch files to the share directory of the package.

```cmake
ament_auto_package(INSTALL_TO_SHARE
  launch
)
```

--------------------------------

### Installing Test Configuration and Launch Files

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/simulator/autoware_fault_injection/CMakeLists.txt

Installs configuration and launch files for testing to the share directory. This makes them available when the package is installed.

```cmake
install(DIRECTORY
  test/config
  test/launch
  DESTINATION share/${PROJECT_NAME}/
)
```

--------------------------------

### Install Launch and Config Files

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/perception/autoware_ground_segmentation_cuda/CMakeLists.txt

Installs launch and configuration directories to the share directory of the package.

```cmake
################################################################################
# Install
install(DIRECTORY launch config
  DESTINATION share/${PROJECT_NAME}
)
```

--------------------------------

### Installing Headers

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/perception/perception_utils/CMakeLists.txt

Installs the include directory to the destination 'include'.

```cmake
install(
  DIRECTORY include/
  DESTINATION include
)
```

--------------------------------

### Install Package Launch and Config Files

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/perception/autoware_image_projection_based_fusion/CMakeLists.txt

Configures the package to install launch and config directories to the share directory. This ensures that launch files and configuration assets are available after installation.

```cmake
autoware_ament_auto_package(INSTALL_TO_SHARE
    launch
    config
)
```

--------------------------------

### Install Libraries

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/perception/autoware_lidar_frnet/CMakeLists.txt

Installs the main library and the CUDA library to the 'lib' destination.

```cmake
install(
  TARGETS ${PROJECT_NAME}_lib
  TARGETS ${PROJECT_NAME}_cuda_lib
  DESTINATION lib
)
```

--------------------------------

### Install Launch Files

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/simulator/autoware_carla_interface/CMakeLists.txt

Installs launch files into the share/<project_name>/launch directory.

```cmake
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
```

--------------------------------

### Install Package Files

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/perception/autoware_tensorrt_bevformer/CMakeLists.txt

Installs the 'src', 'launch', and 'config' directories to the share directory of the package, and installs the TensorRT ops library. This makes the package's resources available at runtime.

```cmake
install(DIRECTORY src launch config DESTINATION share/${PROJECT_NAME})
install(TARGETS ${TENSORRT_OPS_TARGET} LIBRARY DESTINATION lib)
```

--------------------------------

### Install Launch Directory

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/sensing/autoware_pointcloud_preprocessor/CMakeLists.txt

Installs the launch directory to the share directory of the package.

```cmake
install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}/
)
```

--------------------------------

### Install Configuration Files

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/simulator/autoware_carla_interface/CMakeLists.txt

Installs configuration files into the share/<project_name>/config directory.

```cmake
install(DIRECTORY config DESTINATION share/${PROJECT_NAME}/)
```

--------------------------------

### Package and Install Launch Files

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/planning/autoware_trajectory_selector/CMakeLists.txt

Configures the package to install launch files into the share directory.

```cmake
autoware_ament_auto_package(
  INSTALL_TO_SHARE
  launch
)
```

--------------------------------

### Project Setup and Dependencies

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/planning/planning_validator/autoware_planning_validator_intersection_collision_checker/CMakeLists.txt

Sets up the minimum CMake version, project name, and finds necessary Autoware packages. Exports plugin descriptions.

```cmake
cmake_minimum_required(VERSION 3.14)
project(autoware_planning_validator_intersection_collision_checker)

find_package(autoware_cmake REQUIRED)
autoware_package()
pluginlib_export_plugin_description_file(autoware_planning_validator plugins.xml)
```

--------------------------------

### Sensor-Specific Configuration Examples

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/sensing/autoware_pointcloud_preprocessor/docs/polar-voxel-outlier-filter.md

Examples of sensor-specific configurations for different LiDAR setups, including long-range highway, urban short-range, high-resolution near-field, and environmental monitoring.

```yaml
# Long-range highway LiDAR
visibility_estimation_max_range_m: 200.0
visibility_estimation_max_secondary_voxel_count: 500
radial_resolution_m: 0.5
voxel_points_threshold: 2
visibility_estimation_only: false
```

```yaml
# Urban short-range LiDAR
visibility_estimation_max_range_m: 20.0
visibility_estimation_max_secondary_voxel_count: 500
radial_resolution_m: 0.5
voxel_points_threshold: 2
visibility_estimation_only: false
```

```yaml
# High-resolution near-field processing
visibility_estimation_max_range_m: 20.0
visibility_estimation_max_secondary_voxel_count: 500
radial_resolution_m: 0.5
azimuth_resolution_rad: 0.0175 # ~1 degree
elevation_resolution_rad: 0.0175 # ~1 degree
visibility_estimation_only: false
```

```yaml
# Environmental monitoring only
visibility_estimation_max_range_m: 50.0
visibility_estimation_max_secondary_voxel_count: 500
radial_resolution_m: 1.0 # Coarser resolution for performance
visibility_estimation_only: true # Diagnostics only
```

--------------------------------

### Project and Package Setup

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/planning/planning_validator/autoware_planning_validator_rear_collision_checker/CMakeLists.txt

Sets up the CMake minimum version, project name, and package information. It also exports plugin descriptions.

```cmake
cmake_minimum_required(VERSION 3.14)
project(autoware_planning_validator_rear_collision_checker)

find_package(autoware_cmake REQUIRED)
autoware_package()
pluginlib_export_plugin_description_file(autoware_planning_validator plugins.xml)
```

--------------------------------

### Project Setup and Dependencies

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/control/autoware_autonomous_emergency_braking/CMakeLists.txt

Initializes the CMake project and finds necessary packages like autoware_cmake and PCL. Includes system headers.

```cmake
cmake_minimum_required(VERSION 3.14)
project(autoware_autonomous_emergency_braking)

find_package(autoware_cmake REQUIRED)
autoware_package()

find_package(PCL REQUIRED)

include_directories(
  include
  SYSTEM
  ${PCL_INCLUDE_DIRS}
)
```

--------------------------------

### Dependency and Package Setup

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/perception/autoware_raindrop_cluster_filter/CMakeLists.txt

Finds required autoware packages and sets up the package for installation. This ensures all necessary libraries and build configurations are available.

```cmake
# find dependencies
find_package(autoware_cmake REQUIRED)
find_package(autoware_agnocast_wrapper REQUIRED)
autoware_package()
```

--------------------------------

### Project and Package Setup

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/localization/autoware_pose_estimator_arbiter/CMakeLists.txt

Sets the minimum CMake version, defines the project name, and finds necessary autoware packages. This is a standard starting point for an autoware package.

```cmake
cmake_minimum_required(VERSION 3.14)
project(autoware_pose_estimator_arbiter)
```

```cmake
find_package(autoware_cmake REQUIRED)
autoware_package()
```

--------------------------------

### Package Installation

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/e2e/autoware_tensorrt_vad/CMakeLists.txt

Configures the installation of package data, including launch files and configuration files, to the share directory.

```cmake
ament_auto_package(
  INSTALL_TO_SHARE
      launch
      config
)
```

--------------------------------

### Variable Indexing for QP Problem

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/planning/autoware_trajectory_optimizer/docs/continuous_jerk_filter.md

Defines the starting indices for different types of variables used in the quadratic programming problem setup. These indices are crucial for correctly mapping variables within the optimization problem.

```cpp
IDX_B0 = 0;      // Start of b variables (velocity squared)
IDX_A0 = N;      // Start of a variables (acceleration)
IDX_DELTA0 = 2N; // Start of delta variables (velocity slack)
IDX_SIGMA0 = 3N; // Start of sigma variables (acceleration slack)
IDX_GAMMA0 = 4N; // Start of gamma variables (jerk slack)

```

--------------------------------

### Basic CMake Project Setup

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/simulator/autoware_fault_injection/CMakeLists.txt

Initializes the CMake project and sets the minimum required version. This is standard for all CMake projects.

```cmake
cmake_minimum_required(VERSION 3.14)
project(autoware_fault_injection)
```

--------------------------------

### Setup Learning-Based Vehicle Model

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/simulator/autoware_learning_based_vehicle_model/README.md

Initialize the vehicle model by defining sub-models with their Python module paths, optional parameter files, and class names. Then, define the system's state and input names, automatically generate connections, and set the time step.

```C++
InterconnectedModel vehicle;

// Example of model descriptors
std::tuple<char*, char*, char*> model_descriptor_1 = {
    (char*)"path_to_python_module_with_model_class_1",
    (char*)nullptr,  // If no param file is needed you can pass 'nullptr'
    (char*)"ModelClass1"
    };

std::tuple<char*, char*, char*> model_descriptor_2 =   {
    (char*)"path_to_python_module_with_model_class_2",
    (char*)"/path_to/param_file",
    (char*)"ModelClass2"  // Name of the python class. Needs to use the interface from 'Assumptions'
    };

// Create sub-models based on descriptors
vehicle.addSubmodel(model_descriptor_1);
vehicle.addSubmodel(model_descriptor_2);

// Define STATE and INPUT names of the system
std::vector<char*> state_names = {(char*)"STATE_NAME_1", (char*)"STATE_NAME_2"};
std::vector<char*> input_names = {(char*)"INPUT_NAME_1", (char*)"INPUT_NAME_2"};

// Automatically connect sub-systems with model input
vehicle.generateConnections(input_names, state_names);

// Set the time step of the model
vehicle.dtSet(dt);
```

--------------------------------

### Package Installation Configuration

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/perception/autoware_simple_object_merger/CMakeLists.txt

Configures the package for installation, specifying files to be installed in the share directory.

```cmake
# Package
autoware_ament_auto_package(
  INSTALL_TO_SHARE
  config
  launch
)
```

--------------------------------

### Package Installation Configuration

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/planning/motion_velocity_planner/autoware_motion_velocity_obstacle_velocity_limiter_module/CMakeLists.txt

Configures the package for installation, specifying that the 'config' directory should be installed to the share directory.

```cmake
ament_auto_package(
  INSTALL_TO_SHARE
    config
)
```

--------------------------------

### Package Installation

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/perception/autoware_traffic_light_classifier/CMakeLists.txt

Configures the package to install launch files, configuration files, and test data to the share directory.

```cmake
ament_auto_package(INSTALL_TO_SHARE
  launch
  config
  test/test_data
)
```

--------------------------------

### Install PyTorch

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/perception/autoware_shape_estimation/README.md

Installs PyTorch and torchvision within the activated conda environment. Uses the pytorch channel for installation.

```bash
conda install pytorch torchvision -c pytorch
```

--------------------------------

### Package Installation Configuration

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/planning/behavior_path_planner/autoware_behavior_path_direction_change_module/CMakeLists.txt

Configures the package for installation, specifically setting the installation directory for configuration files to the share directory.

```cmake
ament_auto_package(INSTALL_TO_SHARE config)
```

--------------------------------

### Install Image Assets

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/perception/autoware_traffic_light_visualization/CMakeLists.txt

Installs the 'images/' directory to the share directory of the installed package. This ensures that image assets are available at runtime.

```cmake
install(
    DIRECTORY images/
    DESTINATION share/${PROJECT_NAME}/images
)
```

--------------------------------

### Package Installation

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/control/autoware_autonomous_emergency_braking/CMakeLists.txt

Configures the package to install launch files and configuration files to the share directory.

```cmake
ament_auto_package(
  INSTALL_TO_SHARE
  launch
  config
)
```

--------------------------------

### Install mmpretrain from Source

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/perception/autoware_traffic_light_classifier/README.md

Clones the mmpretrain repository, navigates into the directory, and installs it using pip. This method ensures the latest version is used.

```bash
cd ~/
git clone https://github.com/open-mmlab/mmpretrain.git
cd mmpretrain
pip install -U openmim && mim install -e .
```

--------------------------------

### Launch Diagnostic Graph Aggregator Example

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/system/autoware_diagnostic_graph_aggregator/README.md

Launches the diagnostic graph aggregator with example configurations. Ensure example launch files are available.

```bash
ros2 launch autoware_diagnostic_graph_aggregator example-main.launch.xml
```

--------------------------------

### Project and Package Setup

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/perception/autoware_object_merger/CMakeLists.txt

Sets the minimum CMake version and project name, then finds and packages autoware specific components.

```cmake
cmake_minimum_required(VERSION 3.14)
project(autoware_object_merger)

find_package(autoware_cmake REQUIRED)
autoware_package()
```

--------------------------------

### Autoware Package Installation Configuration

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/simulator/autoware_fault_injection/CMakeLists.txt

Configures the autoware_package to install shared resources like config and launch files. This ensures these files are available after installation.

```cmake
ament_auto_package(
  INSTALL_TO_SHARE
    config
    launch
)
```

--------------------------------

### Basic CMake Setup

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/perception/autoware_multi_object_tracker/CMakeLists.txt

Sets the minimum CMake version and project name. Includes necessary Autoware and ROS 2 packages.

```cmake
cmake_minimum_required(VERSION 3.14)
project(autoware_multi_object_tracker)

find_package(autoware_cmake REQUIRED)
autoware_package()

find_package(tf2 REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
```

--------------------------------

### Install Dependencies

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/control/autoware_smart_mpc_trajectory_follower/README.md

Install necessary Python packages for the Smart MPC Trajectory Follower. It's recommended to perform this installation within a virtual environment.

```bash
pip3 install numba==0.58.1 GPy
```

--------------------------------

### Fetch and Build Examples with matplotlibcpp17

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/CMakeLists.txt

Conditionally builds examples if BUILD_EXAMPLES is enabled. It fetches matplotlibcpp17, adds executables for example files, and links against matplotlibcpp17.

```cmake
include(FetchContent)
FetchContent_Declare(
  matplotlibcpp17
  GIT_REPOSITORY https://github.com/soblin/matplotlibcpp17.git
  GIT_TAG master
)
FetchContent_MakeAvailable(matplotlibcpp17)

file(GLOB_RECURSE example_files examples/*.cpp)

foreach(example_file ${example_files})
  get_filename_component(example_name ${example_file} NAME_WE)
  ament_auto_add_executable(${example_name} ${example_file})
  target_include_directories(${example_name} SYSTEM INTERFACE matplotlibcpp17::matplotlibcpp17)
  set_source_files_properties(${example_file} PROPERTIES COMPILE_FLAGS -Wno-error -Wno-attributes -Wno-unused-parameter)
  target_link_libraries(${example_name} matplotlibcpp17::matplotlibcpp17)
endforeach()
```

--------------------------------

### Autoware Package Installation Configuration

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/examples/autoware_diagnostic_graph_test_examples/CMakeLists.txt

Configures the installation of package data to the share directory. This is typically used to install data files required by the package at runtime.

```cmake
ament_auto_package(INSTALL_TO_SHARE data)
```

--------------------------------

### Basic CMake Setup

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/perception/perception_utils/CMakeLists.txt

Sets the minimum CMake version and project name. Includes Autoware-specific CMake functions.

```cmake
cmake_minimum_required(VERSION 3.14)
project(perception_utils)

find_package(autoware_cmake REQUIRED)
autoware_package()
```

--------------------------------

### Project and Dependency Setup

Source: https://github.com/autowarefoundation/autoware_universe/blob/main/perception/autoware_probabilistic_occupancy_grid_map/CMakeLists.txt

Initializes the CMake project and finds necessary Autoware, CUDA, Eigen, and PCL packages.

```cmake
cmake_minimum_required(VERSION 3.14)
project(autoware_probabilistic_occupancy_grid_map)

find_package(autoware_cmake REQUIRED)
autoware_package()

find_package(CUDA)
find_package(eigen3_cmake_module REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(PCL REQUIRED)
```