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Copy pathCMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(omnidirectional_controllers)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
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)
set(THIS_PACKAGE_INCLUDE_DEPENDS
controller_interface
geometry_msgs
hardware_interface
nav_msgs
pluginlib
rclcpp_lifecycle
rclcpp
tf2_msgs
tf2_ros
tf2
)
find_package(ament_cmake REQUIRED)
foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
find_package(${Dependency} REQUIRED)
endforeach()
add_library(odometry SHARED)
target_sources(odometry
PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/odometry.cpp
)
target_include_directories(odometry
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
add_library(kinematics SHARED)
target_sources(kinematics
PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}/src/kinematics.cpp
)
target_include_directories(kinematics
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
add_library(${PROJECT_NAME} SHARED
src/omnidirectional_controller.cpp
)
target_include_directories(${PROJECT_NAME}
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
ament_target_dependencies(${PROJECT_NAME}
${THIS_PACKAGE_INCLUDE_DEPENDS}
)
target_link_libraries(${PROJECT_NAME}
odometry
kinematics
)
target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
pluginlib_export_plugin_description_file(controller_interface omnidirectional_plugin.xml)
install(DIRECTORY include/
DESTINATION include
)
install(TARGETS ${PROJECT_NAME}
RUNTIME DESTINATION bin
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
find_package(ament_cmake_gmock REQUIRED)
ament_lint_auto_find_test_dependencies()
ament_add_gmock(
test_odometry
test/test_odometry.cpp
src/odometry.cpp
)
target_link_libraries(test_odometry
odometry
kinematics
)
ament_add_gmock(
test_kinematics
test/test_kinematics.cpp
src/kinematics.cpp
)
target_link_libraries(test_kinematics
odometry
kinematics
)
target_include_directories(test_odometry PRIVATE include)
ament_target_dependencies(test_odometry)
target_include_directories(test_kinematics PRIVATE include)
ament_target_dependencies(test_kinematics)
endif()
ament_export_dependencies(
${THIS_PACKAGE_INCLUDE_DEPENDS}
)
ament_export_include_directories(
include
)
ament_export_libraries(
${PROJECT_NAME}
)
ament_package()