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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(ros_ign_bridge)
# 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")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
endif()
find_package(ament_cmake REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rosgraph_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
# Citadel
find_package(ignition-transport8 QUIET)
if(ignition-transport8_FOUND)
set(IGN_TRANSPORT_VER ${ignition-transport8_VERSION_MAJOR})
find_package(ignition-msgs5 REQUIRED)
set(IGN_MSGS_VER ${ignition-msgs5_VERSION_MAJOR})
# Blueprint
else()
find_package(ignition-transport7 REQUIRED)
set(IGN_TRANSPORT_VER ${ignition-transport7_VERSION_MAJOR})
find_package(ignition-msgs4 REQUIRED)
set(IGN_MSGS_VER ${ignition-msgs4_VERSION_MAJOR})
endif()
include_directories(include)
set(common_sources
src/convert_builtin_interfaces.cpp
src/builtin_interfaces_factories.cpp
)
set(bridge_executables
parameter_bridge
static_bridge
)
set(bridge_lib
ros_ign_bridge_lib
)
add_library(${bridge_lib}
${common_sources}
)
target_link_libraries(${bridge_lib}
ignition-msgs${IGN_MSGS_VER}::core
ignition-transport${IGN_TRANSPORT_VER}::core
)
ament_target_dependencies(${bridge_lib}
"geometry_msgs"
"nav_msgs"
"rclcpp"
"rosgraph_msgs"
"sensor_msgs"
"std_msgs"
)
install(TARGETS ${bridge_lib}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
install(
DIRECTORY include/
DESTINATION include
)
ament_export_include_directories(include)
ament_export_libraries(${bridge_lib})
foreach(bridge ${bridge_executables})
add_executable(${bridge}
src/${bridge}.cpp
${common_sources}
)
target_link_libraries(${bridge}
ignition-msgs${IGN_MSGS_VER}::core
ignition-transport${IGN_TRANSPORT_VER}::core
)
ament_target_dependencies(${bridge}
"geometry_msgs"
"nav_msgs"
"rclcpp"
"rosgraph_msgs"
"sensor_msgs"
"std_msgs"
)
install(TARGETS ${bridge}
DESTINATION lib/${PROJECT_NAME}
)
endforeach()
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
# TODO(anyone) Uncomment parts as they're ported to ROS 2
#
# # Tests
# find_package(rostest REQUIRED)
#
# set(test_publishers
# ign_publisher
# ros_publisher
# )
#
# set(test_subscribers
# ign_subscriber
# ros_subscriber
# )
#
# foreach(test_publisher ${test_publishers})
# add_executable(${test_publisher}
# test/publishers/${test_publisher}.cpp
# )
# target_link_libraries(${test_publisher}
# ${catkin_LIBRARIES}
# ignition-msgs${IGN_MSGS_VER}::core
# ignition-transport${IGN_TRANSPORT_VER}::core
# gtest
# gtest_main
# )
# endforeach(test_publisher)
#
# foreach(test_subscriber ${test_subscribers})
# add_rostest_gtest(test_${test_subscriber}
# test/${test_subscriber}.test
# test/subscribers/${test_subscriber}.cpp)
# target_link_libraries(test_${test_subscriber}
# ${catkin_LIBRARIES}
# ignition-msgs${IGN_MSGS_VER}::core
# ignition-transport${IGN_TRANSPORT_VER}::core
# )
# endforeach(test_subscriber)
ament_package()