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motion_generator as shared library #295

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motion_generator as shared library #295

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05a73ff
`motion_generator` as shared library
roncapat Jul 23, 2024
6807172
`motion_generator` as shared library
roncapat Jul 23, 2024
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20 changes: 19 additions & 1 deletion canopen_fake_slaves/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -12,6 +12,17 @@ find_package(lifecycle_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)

add_library(
motion_generator
SHARED
"src/motion_generator.cpp"
)
target_compile_features(motion_generator PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
target_include_directories(motion_generator PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)


set(dependencies
lely_core_libraries
lifecycle_msgs
Expand All @@ -38,7 +49,6 @@ ament_target_dependencies(
add_executable(
cia402_slave_node
"src/cia402_slave.cpp"
"src/motion_generator.cpp"
)
target_compile_features(cia402_slave_node PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
target_include_directories(cia402_slave_node PUBLIC
Expand All @@ -50,6 +60,14 @@ ament_target_dependencies(
${dependencies}
)

target_link_libraries(
cia402_slave_node
motion_generator
)

install(TARGETS motion_generator
DESTINATION lib/${PROJECT_NAME})

install(TARGETS basic_slave_node
DESTINATION lib/${PROJECT_NAME})

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