64 lines
2.1 KiB
CMake
64 lines
2.1 KiB
CMake
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(${PROJECT_NAME}
|
|
"srv/Position.srv"
|
|
"action/MoveTo.action"
|
|
)
|
|
|
|
# 添加可执行文件
|
|
add_executable(cpp_pub_node src/cpp_pub_topic.cpp)
|
|
add_executable(cpp_sub_node src/cpp_sub_topic.cpp)
|
|
add_executable(cpp_server_service src/cpp_server_service.cpp)
|
|
add_executable(cpp_client_service src/cpp_client_service.cpp)
|
|
add_executable(cpp_server_action src/cpp_server_action.cpp)
|
|
add_executable(cpp_client_action src/cpp_client_acton.cpp)
|
|
|
|
# 链接对应的库
|
|
ament_target_dependencies(cpp_pub_node rclcpp std_msgs)
|
|
ament_target_dependencies(cpp_sub_node rclcpp std_msgs)
|
|
ament_target_dependencies(cpp_server_service rclcpp std_msgs cpp_prococol)
|
|
ament_target_dependencies(cpp_client_service rclcpp std_msgs cpp_prococol)
|
|
ament_target_dependencies(cpp_server_action rclcpp rclcpp_action cpp_prococol)
|
|
ament_target_dependencies(cpp_client_action rclcpp rclcpp_action cpp_prococol)
|
|
|
|
|
|
if(BUILD_TESTING)
|
|
find_package(ament_lint_auto REQUIRED)
|
|
# the following line skips the linter which checks for copyrights
|
|
# comment the line when a copyright and license is added to all source files
|
|
set(ament_cmake_copyright_FOUND TRUE)
|
|
# the following line skips cpplint (only works in a git repo)
|
|
# comment the line when this package is in a git repo and when
|
|
# a copyright and license is added to all source files
|
|
set(ament_cmake_cpplint_FOUND TRUE)
|
|
ament_lint_auto_find_test_dependencies()
|
|
endif()
|
|
|
|
install(
|
|
TARGETS cpp_pub_node cpp_sub_node cpp_server_service cpp_client_service cpp_server_action cpp_client_action
|
|
DESTINATION lib/${PROJECT_NAME}
|
|
)
|
|
|
|
install(
|
|
DIRECTORY launch
|
|
DESTINATION share/${PROJECT_NAME}
|
|
)
|
|
|
|
|
|
ament_package()
|