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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(akushon)
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic -fPIC)
endif()
find_package(ament_cmake REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(akushon_interfaces REQUIRED)
find_package(jitsuyo REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_action REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tachimawari REQUIRED)
find_package(tachimawari_interfaces REQUIRED)
find_package(Protobuf CONFIG REQUIRED)
message(STATUS "Using protobuf ${Protobuf_VERSION}")
# Find gRPC installation
# Looks for gRPCConfig.cmake file installed by gRPC's cmake installation.
find_package(gRPC CONFIG REQUIRED)
message(STATUS "Using gRPC ${gRPC_VERSION}")
add_library(${PROJECT_NAME} SHARED
"src/${PROJECT_NAME}/action/model/action_name.cpp"
"src/${PROJECT_NAME}/action/model/action.cpp"
"src/${PROJECT_NAME}/action/model/pose.cpp"
"src/${PROJECT_NAME}/action/node/action_manager.cpp"
"src/${PROJECT_NAME}/action/node/action_node.cpp"
"src/${PROJECT_NAME}/action/process/interpolator.cpp"
"src/${PROJECT_NAME}/action/process/joint_process.cpp"
"src/${PROJECT_NAME}/config/node/config_node.cpp"
"src/${PROJECT_NAME}/config/utils/config.cpp"
"src/${PROJECT_NAME}/config/grpc/config.cpp"
"src/${PROJECT_NAME}/config/grpc/call_data_base.cpp"
"src/${PROJECT_NAME}/config/grpc/call_data_brake_action.cpp"
"src/${PROJECT_NAME}/config/grpc/call_data_get_config.cpp"
"src/${PROJECT_NAME}/config/grpc/call_data_load_config.cpp"
"src/${PROJECT_NAME}/config/grpc/call_data_save_config.cpp"
"src/${PROJECT_NAME}/config/grpc/call_data_publish_set_joints.cpp"
"src/${PROJECT_NAME}/config/grpc/call_data_publish_set_torques.cpp"
"src/${PROJECT_NAME}/config/grpc/call_data_subscribe_current_joints.cpp"
"src/${PROJECT_NAME}/config/grpc/call_data_run_action.cpp"
"src/${PROJECT_NAME}/node/akushon_node.cpp"
)
add_library(${PROJECT_NAME}_exported SHARED
"src/${PROJECT_NAME}/action/model/action_name.cpp"
"src/${PROJECT_NAME}/action/model/action.cpp"
"src/${PROJECT_NAME}/action/model/pose.cpp"
"src/${PROJECT_NAME}/action/node/action_manager.cpp"
"src/${PROJECT_NAME}/action/node/action_node.cpp"
"src/${PROJECT_NAME}/action/process/interpolator.cpp"
"src/${PROJECT_NAME}/action/process/joint_process.cpp"
)
target_include_directories(${PROJECT_NAME} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_include_directories(${PROJECT_NAME}_exported PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
ament_target_dependencies(${PROJECT_NAME}
ament_index_cpp
akushon_interfaces
jitsuyo
rclcpp
rclcpp_action
std_msgs
tachimawari
tachimawari_interfaces
gRPC)
ament_target_dependencies(${PROJECT_NAME}_exported
ament_index_cpp
akushon_interfaces
jitsuyo
rclcpp
rclcpp_action
std_msgs
tachimawari
tachimawari_interfaces)
target_link_libraries(${PROJECT_NAME}
gRPC::grpc++_reflection
gRPC::grpc++
)
install(DIRECTORY "include" DESTINATION ".")
install(TARGETS ${PROJECT_NAME}
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION "lib"
LIBRARY DESTINATION "lib"
RUNTIME DESTINATION "bin"
INCLUDES DESTINATION "include")
install(TARGETS ${PROJECT_NAME}_exported
EXPORT export_${PROJECT_NAME}_exported
ARCHIVE DESTINATION "lib"
LIBRARY DESTINATION "lib"
RUNTIME DESTINATION "bin"
INCLUDES DESTINATION "include")
target_compile_options(${PROJECT_NAME} PRIVATE -fPIC)
add_executable(action "src/action_main.cpp")
target_include_directories(action PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(action ${PROJECT_NAME})
add_executable(interpolator "src/interpolator_main.cpp")
target_include_directories(interpolator PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(interpolator ${PROJECT_NAME})
add_executable(main "src/akushon_main.cpp")
target_include_directories(main PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(main ${PROJECT_NAME})
install(TARGETS
action
interpolator
main
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
ament_export_dependencies(
ament_index_cpp
akushon_interfaces
jitsuyo
rclcpp
rclcpp_action
std_msgs
tachimawari
tachimawari_interfaces)
ament_export_include_directories("include")
ament_export_libraries(${PROJECT_NAME}_exported)
ament_package()