CMakeLists.txt

# Copyright 2022 Perception for Physical Interaction Laboratory at Poznan University of Technology
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
#     http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

cmake_minimum_required(VERSION 3.5)

project(swift_nav_ros2)

# require that dependencies from package.xml be available
find_package(ament_cmake_auto REQUIRED)

ament_auto_find_build_dependencies()

set(SWIFT_NAV_ROS2_LIB_SRC
  "src/swift_nav_driver.cpp"
  "src/gnss_handler.cpp"
  "src/sbp_serial_reader.cpp"
  )

set(SWIFT_NAV_ROS2_LIB_HEADERS
  "include/swift_nav_ros2/swift_nav_driver.hpp"
  "include/swift_nav_ros2/visibility_control.hpp"
  "include/swift_nav_ros2/sbp_serial_reader.hpp"
  "include/swift_nav_ros2/gnss_handler.hpp"
  )

# generate library
ament_auto_add_library(${PROJECT_NAME} SHARED
  ${SWIFT_NAV_ROS2_LIB_SRC}
  ${SWIFT_NAV_ROS2_LIB_HEADERS}
  )

set(SWIFT_NAV_ROS2_NODE_SRC
  "src/swift_nav_driver_node.cpp"
  )

set(SWIFT_NAV_ROS2_NODE_HEADERS
  "include/swift_nav_ros2/swift_nav_driver_node.hpp"
  )

# generate component node library
ament_auto_add_library(${PROJECT_NAME}_node SHARED
  ${SWIFT_NAV_ROS2_NODE_SRC}
  ${SWIFT_NAV_ROS2_NODE_HEADERS}
  )

target_link_libraries(${PROJECT_NAME} /usr/local/lib/libsbp.a)
target_link_libraries(${PROJECT_NAME} /usr/local/lib/libserialport.so)


set(SWIFT_NAV_NODE_EXE swift_nav_ros2_exe)
ament_auto_add_executable(${SWIFT_NAV_NODE_EXE} src/main.cpp)

#########################################################

# Testing
if (BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()

  # Unit tests
  #  set(TEST_SOURCES test/test_swift_nav_driver.cpp)
  #  set(TEST_SWIFT_NAV_ROS2_EXE test_swift_nav_driver)
  #  ament_add_gtest(${TEST_SWIFT_NAV_ROS2_EXE} ${TEST_SOURCES})
  #  target_link_libraries(${TEST_SWIFT_NAV_ROS2_EXE} ${PROJECT_NAME})
endif ()

# ament package generation and installing
ament_auto_package(INSTALL_TO_SHARE
  launch
  param
  )