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CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(learn_ros2)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(example_interfaces REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(learn_ros2 REQUIRED)
find_package(rclcpp_action REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/RobotPose.msg"
"msg/RobotStatus.msg"
"srv/MoveRobot.srv"
"action/MoveRobot.action"
DEPENDENCIES geometry_msgs
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()
# node
add_executable(first_node src/node.cpp)
ament_target_dependencies(first_node rclcpp)
install(TARGETS
first_node
DESTINATION lib/${PROJECT_NAME}
)
# publisher
add_executable(pub_node src/publisher.cpp)
ament_target_dependencies(pub_node rclcpp std_msgs)
# subscriber
add_executable(sub_node src/subscriber.cpp)
ament_target_dependencies(sub_node rclcpp std_msgs)
# server
add_executable(server_node src/server.cpp)
ament_target_dependencies(server_node rclcpp example_interfaces)
install(TARGETS
server_node
DESTINATION lib/${PROJECT_NAME}
)
# client
add_executable(client_node src/client.cpp)
ament_target_dependencies(client_node rclcpp example_interfaces)
install(TARGETS
client_node
DESTINATION lib/${PROJECT_NAME}
)
# robot
add_executable(custom_robot_node src/custom_robot.cpp)
ament_target_dependencies(custom_robot_node rclcpp learn_ros2)
install(TARGETS
custom_robot_node
DESTINATION lib/${PROJECT_NAME}
)
# controller
add_executable(custom_controller_node src/custom_controller.cpp)
ament_target_dependencies(custom_controller_node rclcpp learn_ros2)
install(TARGETS
custom_controller_node
DESTINATION lib/${PROJECT_NAME}
)
# parameter
add_executable(parameter_node src/parameter.cpp)
ament_target_dependencies(parameter_node rclcpp)
install(TARGETS
parameter_node
DESTINATION lib/${PROJECT_NAME}
)
# action_robot
add_executable(action_robot_node src/robot.cpp src/action_robot.cpp)
ament_target_dependencies(action_robot_node rclcpp rclcpp_action learn_ros2)
install(TARGETS
action_robot_node
DESTINATION lib/${PROJECT_NAME}
)
target_include_directories(action_robot_node PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
# action_controller
add_executable(action_controller_node src/action_controller.cpp)
ament_target_dependencies(action_controller_node rclcpp rclcpp_action learn_ros2)
install(TARGETS
action_controller_node
DESTINATION lib/${PROJECT_NAME}
)
target_include_directories(action_controller_node PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
# launch
install(DIRECTORY launch
DESTINATION share/${PROJECT_NAME})