95 lines
2.7 KiB
CMake
95 lines
2.7 KiB
CMake
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################################################################################
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# Set minimum required version of cmake, project name and compile options
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################################################################################
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cmake_minimum_required(VERSION 3.5)
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project(eutobot_node)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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################################################################################
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# Find ament packages and libraries for ament and system dependencies
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################################################################################
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find_package(ament_cmake REQUIRED)
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find_package(dynamixel_sdk REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(message_filters REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rcutils REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(std_srvs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(eutobot_msgs REQUIRED)
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################################################################################
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# Build
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################################################################################
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include_directories(
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include
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)
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add_library(${PROJECT_NAME}_lib
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"src/devices/motor_power.cpp"
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"src/devices/sound.cpp"
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"src/devices/reset.cpp"
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"src/diff_drive_controller.cpp"
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"src/dynamixel_sdk_wrapper.cpp"
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"src/odometry.cpp"
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"src/eutobot.cpp"
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"src/sensors/battery_state.cpp"
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"src/sensors/imu.cpp"
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"src/sensors/joint_state.cpp"
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"src/sensors/sensor_state.cpp"
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)
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set(DEPENDENCIES
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"dynamixel_sdk"
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"geometry_msgs"
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"message_filters"
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"nav_msgs"
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"rclcpp"
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"rcutils"
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"sensor_msgs"
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"std_msgs"
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"std_srvs"
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"tf2"
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"tf2_ros"
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"eutobot_msgs"
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)
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target_link_libraries(${PROJECT_NAME}_lib)
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ament_target_dependencies(${PROJECT_NAME}_lib ${DEPENDENCIES})
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set(EXECUTABLE_NAME "eutobot_ros")
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add_executable(${EXECUTABLE_NAME} src/node_main.cpp)
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target_link_libraries(${EXECUTABLE_NAME} ${PROJECT_NAME}_lib)
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ament_target_dependencies(${EXECUTABLE_NAME} ${DEPENDENCIES})
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################################################################################
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# Install
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################################################################################
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install(DIRECTORY param
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DESTINATION share/${PROJECT_NAME}
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)
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install(TARGETS ${EXECUTABLE_NAME}
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DESTINATION lib/${PROJECT_NAME}
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)
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################################################################################
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# Macro for ament package
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################################################################################
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ament_export_include_directories(include)
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ament_package()
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