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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(rosbot_hardware_interfaces)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
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(controller_interface REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(std_msgs REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(realtime_tools REQUIRED)
add_library(
${PROJECT_NAME}
SHARED
src/rosbot_system.cpp
src/rosbot_imu_sensor.cpp
)
target_include_directories(
${PROJECT_NAME}
PRIVATE
include
)
ament_target_dependencies(
${PROJECT_NAME}
hardware_interface
controller_interface
realtime_tools
rclcpp_lifecycle
rclcpp
pluginlib
std_msgs
)
target_compile_definitions(${PROJECT_NAME} PRIVATE "ROSBOT_HARDWARE_INTERFACES_BUILDING_DLL")
# target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS"s)
pluginlib_export_plugin_description_file(hardware_interface rosbot_hardware_interfaces.xml)
install(
DIRECTORY include/
DESTINATION include
)
install(
DIRECTORY launch config urdf
DESTINATION share/${PROJECT_NAME}
)
install(
TARGETS ${PROJECT_NAME}
RUNTIME DESTINATION bin
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
)
ament_export_include_directories(
include
)
ament_export_libraries(
${PROJECT_NAME}
)
ament_export_dependencies(
hardware_interface
controller_interface
realtime_tools
rclcpp_lifecycle
rclcpp
std_msgs
)
ament_package()