53 lines
1.5 KiB
CMake
53 lines
1.5 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(virtual_robot_prococol)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(virtual_robot_prococol REQUIRED)
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find_package(std_srvs REQUIRED)
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find_package(rclcpp_action REQUIRED)
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#添加可执行文件
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add_executable(robot_status src/robot_status.cpp)
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add_executable(robot_control src/robot_control.cpp)
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# 链接开发库
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ament_target_dependencies(robot_status rclcpp virtual_robot_prococol std_srvs rclcpp_action)
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ament_target_dependencies(robot_control rclcpp virtual_robot_prococol std_srvs rclcpp_action)
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# 增加自定义接口包
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find_package(rosidl_default_generators REQUIRED)
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# 添加接口生成
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rosidl_generate_interfaces(${PROJECT_NAME}
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"msg/RobotStatus.msg"
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"msg/RobotCommand.msg"
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"action/TargetPosition.action"
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)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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install(
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TARGETS robot_status robot_control
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DESTINATION lib/${PROJECT_NAME}
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)
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ament_package()
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