add eddie_platform_control

CMakeLists.txt

@@ -1,104 +1,78 @@
-cmake_minimum_required(VERSION 3.20)
+cmake_minimum_required(VERSION 3.8)
+project(eddie_platform_control)
 
-set(CMAKE_MODULE_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
-
-project(PackageName)
-
-include(GNUInstallDirs)
-
-set(CMAKE_INSTALL_DIR ${CMAKE_INSTALL_LIBDIR}/cmake/${PROJECT_NAME})
-
-option(ENABLE_DOC "Build documentation" Off)
-option(ENABLE_TESTS "Build unit tests" Off)
-option(ENABLE_PACKAGE_REGISTRY "Add this package to CMake's package registry" Off)
-
-add_subdirectory(src)
-
-if(ENABLE_TESTS)
-    message(STATUS "Building tests")
-    enable_testing()
-    add_subdirectory(test)
-endif()
-
-if(ENABLE_DOC)
-    # Find Doxygen package
-    find_package(Doxygen REQUIRED)
-
-    # Set Doxygen variables
-    set(DOXYGEN_GENERATE_HTML YES) # Enable HTML documentation generation
-    set(DOXYGEN_GENERATE_XML NO) # Disable XML output (optional, depends on your needs)
-    set(DOXYGEN_EXCLUDE "test/*") # Optionally exclude test folders from documentation
-
-    # Set the paths for the input sources and the output directory
-    set(DOXYGEN_INPUT_DIR "${CMAKE_SOURCE_DIR}/src") # Path to source code directory
-    set(DOXYGEN_INCLUDE_DIR "${CMAKE_SOURCE_DIR}/include") # Path to include directory
-    set(DOXYGEN_README "${CMAKE_SOURCE_DIR}/README.md") # Path to README.md
-    set(DOXYGEN_OUTPUT_DIR "${CMAKE_BINARY_DIR}/docs") # Output directory for the docs
-    set(HTML_EXTRA_STYLESHEET "${CMAKE_SOURCE_DIR}/docs/styles/doxy.css") # Path to custom CSS
-    set(HTML_HEADER "${CMAKE_SOURCE_DIR}/docs/styles/doxy_header.html") # Path to custom header
-
-    # Ensure that the output directory exists
-    file(MAKE_DIRECTORY ${DOXYGEN_OUTPUT_DIR})
-
-    # Provide path to Doxygen config file
-    set(DOXYGEN_CONFIG_FILE "${CMAKE_SOURCE_DIR}/Doxyfile.in") # Path to your Doxygen configuration
-
-    # Check if Doxygen configuration file exists
-    if(EXISTS "${DOXYGEN_CONFIG_FILE}")
-        message(STATUS "Doxygen config file found: ${DOXYGEN_CONFIG_FILE}")
-    else()
-        message(FATAL_ERROR "Doxygen config file not found!")
-    endif()
-
-    # Modify the Doxyfile variables in the CMakeLists.txt
-    configure_file(${CMAKE_SOURCE_DIR}/Doxyfile.in ${CMAKE_BINARY_DIR}/Doxyfile @ONLY)
-
-    # Add custom target to generate docs using Doxygen
-    add_custom_target(
-        docs
-        COMMAND ${DOXYGEN_EXECUTABLE} ${CMAKE_BINARY_DIR}/Doxyfile
-        WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
-        COMMENT "Generating API documentation with Doxygen"
-        VERBATIM)
+# Default to C++17
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
 endif()
 
-# Export this package to CMake's package registry
-if(ENABLE_PACKAGE_REGISTRY)
-    export(PACKAGE ${PROJECT_NAME})
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(visualization_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(gazebo_msgs REQUIRED)
+find_package(kelo_tulip REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+find_package(Boost REQUIRED COMPONENTS thread)
+
+# Optional documentation build
+option(BUILD_DOC "Build documentation" OFF)
+if(BUILD_DOC)
+  find_package(Doxygen)
+  if(DOXYGEN_FOUND)
+    set(DOXYGEN_IN ${CMAKE_CURRENT_SOURCE_DIR}/config/doxygen/Doxyfile.in)
+    set(DOXYGEN_OUT ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile)
+
+    configure_file(${DOXYGEN_IN} ${DOXYGEN_OUT} @ONLY)
+
+    add_custom_target(doc_doxygen ALL
+      COMMAND ${DOXYGEN_EXECUTABLE} ${DOXYGEN_OUT}
+      WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+      COMMENT "Generating API documentation with Doxygen"
+      VERBATIM)
+  else()
+    message("Doxygen needs to be installed to generate documentation")
+  endif()
 endif()
 
-include(CMakePackageConfigHelpers)
-configure_package_config_file(
-    ${PROJECT_NAME}-config.cmake.in "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake"
-    INSTALL_DESTINATION ${CMAKE_INSTALL_DIR})
-
-# Generate the version file for the config file
-write_basic_package_version_file(
-    "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake"
-    VERSION "0.1.0"
-    COMPATIBILITY AnyNewerVersion)
-
-# Install cmake configuration and package version
-install(FILES "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config.cmake"
-              "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-config-version.cmake"
-        DESTINATION ${CMAKE_INSTALL_DIR})
-
-# Make the targets accessible from this packages's build tree
-export(
-    EXPORT ${PROJECT_NAME}-targets
-    NAMESPACE ${PROJECT_NAME}::
-    FILE "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}-targets.cmake")
-
-# Make the targets accessible from this packages's install tree
-install(
-    EXPORT ${PROJECT_NAME}-targets
-    NAMESPACE ${PROJECT_NAME}::
-    DESTINATION ${CMAKE_INSTALL_DIR})
-
-# Install all public header files
-install(
-    DIRECTORY include/
-    DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
-    FILES_MATCHING
-    PATTERN "*.h"
-    PATTERN "*.hpp")
+# Include directories
+include_directories(
+  include
+  ${kelo_tulip_INCLUDE_DIRS}
+)
+
+# Executable
+add_executable(kelo_gazebo_platform_controller
+  src/KeloDrive.cpp
+  src/PlatformController.cpp
+  src/main.cpp
+)
+
+# Link libraries
+ament_target_dependencies(kelo_gazebo_platform_controller
+  rclcpp
+  visualization_msgs
+  tf2
+  tf2_geometry_msgs
+  nav_msgs
+  kelo_tulip
+  Boost
+  gazebo_msgs
+)
+
+# Install directories
+install(DIRECTORY 
+  launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+# Install executable
+install(TARGETS
+  kelo_gazebo_platform_controller
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+# Necessary for ament_package()
+ament_package()

README.md

@@ -13,6 +13,8 @@ This repository is a template for C/C++ packages.
 - clang-format
 - clang-tidy
 - [pre-commit](https://pre-commit.com/)
+- kelo_tulip
+- eddie_gazebo
 
 #### Install prerequisites