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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(robot_state_publisher)
# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra)
endif()
find_package(ament_cmake REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(kdl_parser REQUIRED)
find_package(orocos_kdl REQUIRED)
find_package(rcl_interfaces REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(urdf REQUIRED)
set(THIS_PACKAGE_INCLUDE_DEPENDS
builtin_interfaces
geometry_msgs
kdl_parser
orocos_kdl
rcl_interfaces
rclcpp
rclcpp_components
sensor_msgs
std_msgs
tf2_ros
urdf)
add_library(
${PROJECT_NAME}_node SHARED
src/robot_state_publisher.cpp)
target_include_directories(${PROJECT_NAME}_node PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
ament_target_dependencies(${PROJECT_NAME}_node ${THIS_PACKAGE_INCLUDE_DEPENDS})
ament_export_targets(export_${PROJECT_NAME}_node)
rclcpp_components_register_node(${PROJECT_NAME}_node
PLUGIN "robot_state_publisher::RobotStatePublisher"
EXECUTABLE robot_state_publisher)
install(
TARGETS
${PROJECT_NAME}_node
EXPORT export_${PROJECT_NAME}_node
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(DIRECTORY include/
DESTINATION include/${PROJECT_NAME})
install(DIRECTORY launch urdf
DESTINATION share/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
find_package(ament_cmake_gtest REQUIRED)
find_package(launch_testing_ament_cmake REQUIRED)
ament_find_gtest()
add_executable(test_two_links_fixed_joint test/test_two_links_fixed_joint.cpp)
ament_target_dependencies(test_two_links_fixed_joint
rclcpp
tf2_ros
)
target_include_directories(test_two_links_fixed_joint PRIVATE ${GTEST_INCLUDE_DIRS})
target_link_libraries(test_two_links_fixed_joint ${GTEST_LIBRARIES})
add_launch_test(test/two_links_fixed_joint-launch.py
ARGS "test_exe:=$<TARGET_FILE:test_two_links_fixed_joint>")
add_executable(test_two_links_fixed_joint_prefix test/test_two_links_fixed_joint_prefix.cpp)
ament_target_dependencies(test_two_links_fixed_joint_prefix
rclcpp
tf2_ros
)
target_include_directories(test_two_links_fixed_joint PRIVATE ${GTEST_INCLUDE_DIRS})
target_link_libraries(test_two_links_fixed_joint_prefix ${GTEST_LIBRARIES})
add_launch_test(test/two_links_fixed_joint_prefix-launch.py
ARGS "test_exe:=$<TARGET_FILE:test_two_links_fixed_joint_prefix>")
add_executable(test_two_links_moving_joint test/test_two_links_moving_joint.cpp)
ament_target_dependencies(test_two_links_moving_joint
rclcpp
sensor_msgs
tf2_ros
)
target_include_directories(test_two_links_fixed_joint PRIVATE ${GTEST_INCLUDE_DIRS})
target_link_libraries(test_two_links_moving_joint ${GTEST_LIBRARIES})
add_launch_test(test/two_links_moving_joint-launch.py
ARGS "test_exe:=$<TARGET_FILE:test_two_links_moving_joint>")
add_executable(test_two_links_change_fixed_joint test/test_two_links_change_fixed_joint.cpp)
ament_target_dependencies(test_two_links_change_fixed_joint
rclcpp
tf2_ros
)
target_include_directories(test_two_links_change_fixed_joint PRIVATE ${GTEST_INCLUDE_DIRS})
target_link_libraries(test_two_links_change_fixed_joint ${GTEST_LIBRARIES})
add_launch_test(test/two_links_change_fixed_joint-launch.py
ARGS "test_exe:=$<TARGET_FILE:test_two_links_change_fixed_joint>")
endif()
ament_export_dependencies(${THIS_PACKAGE_INCLUDE_DEPENDS})
ament_package()