76 lines
1.9 KiB
CMake
76 lines
1.9 KiB
CMake
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cmake_minimum_required(VERSION 3.16)
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project(hoverboard_driver LANGUAGES CXX)
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if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
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add_compile_options(-Wall -Wextra)
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endif()
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# find dependencies
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set(THIS_PACKAGE_INCLUDE_DEPENDS
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hardware_interface
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pluginlib
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rclcpp
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rclcpp_lifecycle
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control_toolbox
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)
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# find dependencies
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find_package(ament_cmake REQUIRED)
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foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
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find_package(${Dependency} REQUIRED)
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endforeach()
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## COMPILE
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add_library(
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hoverboard_driver
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SHARED
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hardware/hoverboard_driver.cpp
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hardware/pid.cpp
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)
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target_compile_features(hoverboard_driver PUBLIC cxx_std_17)
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target_include_directories(hoverboard_driver PUBLIC
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$<BUILD_INTERFACE:${PROJECT_SOURCE_DIR}/hardware/include>
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$<INSTALL_INTERFACE:include/hoverboard_driver>
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)
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ament_target_dependencies(
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hoverboard_driver PUBLIC
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${THIS_PACKAGE_INCLUDE_DEPENDS}
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)
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(${PROJECT_NAME} PRIVATE "HOVERBOARD_DRIVER_BUILDING_DLL")
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# Export hardware plugins
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pluginlib_export_plugin_description_file(hardware_interface hoverboard_driver.xml)
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# INSTALL
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install(
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DIRECTORY hardware/include/
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DESTINATION include/hoverboard_driver
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)
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install(
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DIRECTORY description/launch description/ros2_control description/urdf
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DESTINATION share/hoverboard_driver
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)
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install(
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DIRECTORY bringup/launch bringup/config
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DESTINATION share/hoverboard_driver
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)
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install(TARGETS hoverboard_driver
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EXPORT export_hoverboard_driver
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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if(BUILD_TESTING)
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find_package(ament_cmake_gtest REQUIRED)
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endif()
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## EXPORTS
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ament_export_targets(export_hoverboard_driver HAS_LIBRARY_TARGET)
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ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
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ament_package()
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