75 lines
1.6 KiB
CMake
75 lines
1.6 KiB
CMake
cmake_minimum_required(VERSION 3.5)
|
|
project(dynamixel_ros2_control)
|
|
|
|
# Default to C++17
|
|
if(NOT CMAKE_CXX_STANDARD)
|
|
set(CMAKE_CXX_STANDARD 17)
|
|
endif()
|
|
|
|
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
|
add_compile_options(-Wall -Wextra -Wpedantic -O3)
|
|
endif()
|
|
|
|
find_package(ament_cmake REQUIRED)
|
|
find_package(hardware_interface REQUIRED)
|
|
find_package(pluginlib REQUIRED)
|
|
find_package(rclcpp REQUIRED)
|
|
find_package(dynamixel_sdk REQUIRED COMPONENTS)
|
|
|
|
add_library(
|
|
${PROJECT_NAME}
|
|
SHARED
|
|
src/dynamixel_ros2_control.cpp
|
|
)
|
|
|
|
target_include_directories(
|
|
${PROJECT_NAME}
|
|
PUBLIC
|
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
|
$<INSTALL_INTERFACE:include>)
|
|
|
|
ament_target_dependencies(
|
|
${PROJECT_NAME}
|
|
dynamixel_sdk
|
|
rclcpp
|
|
hardware_interface
|
|
pluginlib
|
|
)
|
|
|
|
pluginlib_export_plugin_description_file(hardware_interface dynamixel_ros2_control_hardware_interface.xml)
|
|
|
|
install(
|
|
TARGETS ${PROJECT_NAME}
|
|
DESTINATION lib
|
|
)
|
|
install(
|
|
DIRECTORY include/
|
|
DESTINATION include
|
|
)
|
|
|
|
if(BUILD_TESTING)
|
|
find_package(ament_lint_auto REQUIRED)
|
|
# the following line skips the linter which checks for copyrights
|
|
# uncomment the line when a copyright and license is not present in all source files
|
|
#set(ament_cmake_copyright_FOUND TRUE)
|
|
# the following line skips cpplint (only works in a git repo)
|
|
# uncomment the line when this package is not in a git repo
|
|
#set(ament_cmake_cpplint_FOUND TRUE)
|
|
ament_lint_auto_find_test_dependencies()
|
|
endif()
|
|
|
|
ament_export_include_directories(
|
|
include
|
|
)
|
|
ament_export_libraries(
|
|
${PROJECT_NAME}
|
|
)
|
|
ament_export_dependencies(
|
|
dynamixel_sdk
|
|
rclcpp
|
|
hardware_interface
|
|
pluginlib
|
|
)
|
|
|
|
ament_package()
|