70 lines
1.6 KiB
CMake
70 lines
1.6 KiB
CMake
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cmake_minimum_required(VERSION 3.8)
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project(cyberdog_marker)
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# 编译选项
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# 查找依赖项
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(gazebo_msgs REQUIRED)
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find_package(rosidl_default_generators REQUIRED)
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# 生成服务接口
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rosidl_generate_interfaces(${PROJECT_NAME}
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"srv/PlaceMarker.srv"
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)
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# 创建一个包含生成的头文件的目录
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file(MAKE_DIRECTORY "${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp/cyberdog_marker")
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# 添加库
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add_library(marker_service SHARED
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src/marker_service.cpp
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)
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# 设置包含路径
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target_include_directories(marker_service PUBLIC
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
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"$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_cpp>"
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"$<INSTALL_INTERFACE:include>")
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# 链接依赖
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ament_target_dependencies(marker_service
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rclcpp
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rclcpp_components
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gazebo_msgs
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)
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# 添加编译依赖，确保在编译库之前生成服务接口
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add_dependencies(marker_service ${PROJECT_NAME})
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# 服务接口链接
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rosidl_target_interfaces(marker_service
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${PROJECT_NAME} "rosidl_typesupport_cpp")
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# 安装头文件
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install(
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DIRECTORY include/
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DESTINATION include
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)
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# 安装库
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install(TARGETS
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marker_service
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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# 组件导出
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rclcpp_components_register_node(
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marker_service
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PLUGIN "cyberdog::marker::MarkerService"
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EXECUTABLE marker_service_node
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)
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ament_package()
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