/
CMakeLists.txt
253 lines (193 loc) · 6.32 KB
/
CMakeLists.txt
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
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
cmake_minimum_required(VERSION 3.8)
project(adi_tmcl)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
include_directories(include)
############################################
set(msg_files
"msg/TmcInfo.msg"
"msg/TmcParam.msg"
)
set(srv_files
"srv/TmcCustomCmd.srv"
"srv/TmcGapAll.srv"
"srv/TmcGgpAll.srv"
)
rosidl_generate_interfaces(${PROJECT_NAME}
${msg_files}
${srv_files}
DEPENDENCIES std_msgs)
ament_export_dependencies(rosidl_default_runtime)
rosidl_get_typesupport_target(cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
############################################
add_library(${PROJECT_NAME}_socket_can_wrapper SHARED
src/socket_can_wrapper.cpp)
target_include_directories(${PROJECT_NAME}_socket_can_wrapper PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>"
${rclcpp_INCLUDE_DIRS}
)
ament_target_dependencies(${PROJECT_NAME}_socket_can_wrapper rclcpp)
ament_export_targets(${PROJECT_NAME}_socket_can_wrapperTargets HAS_LIBRARY_TARGET)
install(
DIRECTORY include/
DESTINATION include
)
install(
TARGETS ${PROJECT_NAME}_socket_can_wrapper
EXPORT ${PROJECT_NAME}_socket_can_wrapperTargets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib
INCLUDES DESTINATION include)
############################################
add_library(tmcl_interpreter SHARED
src/tmcl_interpreter.cpp)
target_link_libraries(tmcl_interpreter ${PROJECT_NAME}_socket_can_wrapper)
target_include_directories(tmcl_interpreter PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>"
${rclcpp_INCLUDE_DIRS}
)
ament_target_dependencies(tmcl_interpreter rclcpp)
ament_export_targets(tmcl_interpreterTargets HAS_LIBRARY_TARGET)
install(
DIRECTORY include/
DESTINATION include
)
install(
TARGETS tmcl_interpreter
EXPORT tmcl_interpreterTargets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib
INCLUDES DESTINATION include)
############################################
add_library(tmcl_motor SHARED
src/tmcl_motor.cpp)
target_link_libraries(tmcl_motor tmcl_interpreter "${cpp_typesupport_target}")
target_include_directories(tmcl_motor PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>"
${rclcpp_INCLUDE_DIRS}
)
ament_target_dependencies(tmcl_motor rclcpp std_msgs geometry_msgs)
ament_export_targets(tmcl_motorTargets HAS_LIBRARY_TARGET)
install(
DIRECTORY include/
DESTINATION include
)
install(
TARGETS tmcl_motor
EXPORT tmcl_motorTargets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib
INCLUDES DESTINATION include)
############################################
add_library(tmcl_bldc_motor SHARED
src/tmcl_bldc_motor.cpp)
target_link_libraries(tmcl_bldc_motor tmcl_motor tmcl_interpreter "${cpp_typesupport_target}")
target_include_directories(tmcl_bldc_motor PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>"
${rclcpp_INCLUDE_DIRS}
)
ament_target_dependencies(tmcl_bldc_motor rclcpp std_msgs geometry_msgs)
ament_export_targets(tmcl_bldc_motorTargets HAS_LIBRARY_TARGET)
install(
DIRECTORY include/
DESTINATION include
)
install(
TARGETS tmcl_bldc_motor
EXPORT tmcl_bldc_motorTargets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib
INCLUDES DESTINATION include)
############################################
add_library(tmcl_stepper_motor SHARED
src/tmcl_stepper_motor.cpp)
target_link_libraries(tmcl_stepper_motor tmcl_motor tmcl_interpreter "${cpp_typesupport_target}")
target_include_directories(tmcl_stepper_motor PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>"
${rclcpp_INCLUDE_DIRS}
)
ament_target_dependencies(tmcl_stepper_motor rclcpp std_msgs geometry_msgs)
ament_export_targets(tmcl_stepper_motorTargets HAS_LIBRARY_TARGET)
install(
DIRECTORY include/
DESTINATION include
)
install(
TARGETS tmcl_stepper_motor
EXPORT tmcl_stepper_motorTargets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib
INCLUDES DESTINATION include)
############################################
add_library(tmcl_ros2_lib SHARED
src/tmcl_ros2.cpp)
target_link_libraries(tmcl_ros2_lib tmcl_motor tmcl_bldc_motor tmcl_stepper_motor "${cpp_typesupport_target}")
target_include_directories(tmcl_ros2_lib PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>"
${rclcpp_INCLUDE_DIRS}
)
ament_target_dependencies(tmcl_ros2_lib rclcpp std_msgs geometry_msgs std_srvs)
ament_export_targets(tmcl_ros2libTargets HAS_LIBRARY_TARGET)
install(
DIRECTORY include/
DESTINATION include
)
install(
TARGETS tmcl_ros2_lib
EXPORT tmcl_ros2libTargets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib
INCLUDES DESTINATION include)
############################################
add_executable(tmcl_ros2_node src/tmcl_ros2_node.cpp)
target_link_libraries(tmcl_ros2_node tmcl_ros2_lib)
ament_target_dependencies(tmcl_ros2_node rclcpp)
install(
TARGETS tmcl_ros2_node
DESTINATION lib/${PROJECT_NAME}
)
############################################
install(
DIRECTORY launch
DESTINATION share/${PROJECT_NAME}/
)
install(
DIRECTORY config
DESTINATION share/${PROJECT_NAME}/
)
############################################
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()