robot-framework/CMakeLists.txt at master · dasc-lab/robot-framework · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
cmake_minimum_required(VERSION 3.5)
project(dasc_robot)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# 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()

SET(CMAKE_CXX_FLAGS -fPIC)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(px4_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(eigen3_cmake_module REQUIRED)
find_package(Eigen3 REQUIRED NO_MODULE)
find_package(px4_ros_com REQUIRED)

add_library(dascBots src/DASCRobots.cpp)
ament_target_dependencies(dascBots rclcpp px4_msgs geometry_msgs tf2 tf2_ros px4_ros_com)
target_include_directories(dascBots PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)
ament_export_libraries(dascBots)
install(
  TARGETS dascBots
  EXPORT export_dascBots
  LIBRARY DESTINATION lib/${PROJECT_NAME}
  ARCHIVE DESTINATION lib/${PROJECT_NAME}
  RUNTIME DESTINATION bin/${PROJECT_NAME}
  INCLUDES DESTINATION include/${PROJECT_NAME}
)

add_library(dasc_robot_lib SHARED src/dasc_robot_lib.cpp)
ament_target_dependencies(dasc_robot_lib rclcpp px4_msgs geometry_msgs tf2 tf2_ros px4_ros_com)
target_link_libraries(dasc_robot_lib dascBots)
target_include_directories(dasc_robot_lib PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
)
ament_export_libraries(dasc_robot_lib)
install(
  TARGETS dasc_robot_lib
  EXPORT export_dasc_robot_lib
  LIBRARY DESTINATION lib/${PROJECT_NAME}
  ARCHIVE DESTINATION lib/${PROJECT_NAME}
  RUNTIME DESTINATION bin/${PROJECT_NAME}
  INCLUDES DESTINATION include/${PROJECT_NAME}
)


set(Examples
	check_robot
	example_control
	example_control_multi_rover
	example_control_geometric
	example_control_geometric_velocity
	example_control_geometric_acceleration
	example_quad_takeoff_and_land
	example_quad_circle
	example_quad_circle_trajectory
	# example_quad_trefoil
)

message(STATUS "TEST!!")

foreach( ex  ${Examples})

    add_executable(${ex}  src/${ex}.cpp)
    ament_target_dependencies(${ex}
    	rclcpp px4_msgs geometry_msgs tf2 tf2_ros px4_ros_com)
    target_link_libraries(${ex} dascBots)
    target_include_directories(${ex}
    	PUBLIC
      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/${PROJECT_NAME}>
      $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
    )
    install(TARGETS
      ${ex}
      DESTINATION lib/${PROJECT_NAME}
    )

endforeach()


ament_package()