init

protocol_ws/cpp_prococol/CMakeLists.txt

@@ -0,0 +1,61 @@
+cmake_minimum_required(VERSION 3.8)
+project(cpp_prococol)
+
+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(cpp_prococol REQUIRED)
+find_package(rclcpp_action REQUIRED)
+
+find_package(rosidl_default_generators REQUIRED)
+
+# 添加接口文件
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/Position.srv"
+  "action/MoveTo.action"
+)
+
+# 添加可执行文件
+add_executable(cpp_pub_node src/cpp_pub_topic.cpp)
+add_executable(cpp_sub_node src/cpp_sub_topic.cpp)
+add_executable(cpp_server_service src/cpp_server_service.cpp)
+add_executable(cpp_client_service src/cpp_client_service.cpp)
+add_executable(cpp_server_action src/cpp_server_action.cpp)
+
+# 链接对应的库
+ament_target_dependencies(cpp_pub_node rclcpp std_msgs)
+ament_target_dependencies(cpp_sub_node rclcpp std_msgs)
+ament_target_dependencies(cpp_server_service rclcpp std_msgs cpp_prococol)
+ament_target_dependencies(cpp_client_service rclcpp std_msgs cpp_prococol)
+ament_target_dependencies(cpp_server_action rclcpp rclcpp_action cpp_prococol)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(
+  TARGETS cpp_pub_node cpp_sub_node cpp_server_service cpp_client_service cpp_server_action
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+  DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+
+ament_package()