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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(irobot_benchmark)
# 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 "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
endif()
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(irobot_events_executor REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(performance_test REQUIRED)
find_package(performance_test_factory REQUIRED)
add_executable(irobot_benchmark src/irobot_benchmark.cpp)
ament_target_dependencies(irobot_benchmark rclcpp rclcpp_lifecycle performance_test performance_test_factory irobot_events_executor)
install(TARGETS
irobot_benchmark
DESTINATION lib/${PROJECT_NAME}
)
set(FT topology/full_topologies)
set(TEST_TOPOLOGY_FILES
${FT}/cedar.json
${FT}/debug_mont_blanc_best_effort.json
${FT}/debug_mont_blanc_reliable.json
${FT}/debug_sierra_nevada_best_effort.json
${FT}/debug_sierra_nevada_fixed_size_best_effort.json
${FT}/debug_sierra_nevada_reliable.json
${FT}/debug_white_mountain_best_effort.json
${FT}/debug_white_mountain_fixed_size_best_effort.json
${FT}/mont_blanc.json
${FT}/sierra_nevada.json
${FT}/sierra_nevada_fixed_size.json
${FT}/sierra_nevada_fixed_size_loaned.json
${FT}/sierra_nevada_loaned.json
${FT}/white_mountain.json
${FT}/white_mountain_fixed_size.json
${FT}/white_mountain_fixed_size_loaned.json
${FT}/white_mountain_loaned.json
)
install(FILES
${TEST_TOPOLOGY_FILES}
DESTINATION lib/${PROJECT_NAME}/${FT})
set(SP topology/single_process)
set(TOPOLOGY_FILES_SINGLE_PROCESS
${SP}/pub_sub_loaned_10b.json
${SP}/pub_sub_loaned_100kb.json
${SP}/pub_sub_loaned_1mb.json
${SP}/pub_sub_loaned_4mb.json
${SP}/pub_sub_10b_ipc_on.json
${SP}/pub_sub_100kb_ipc_on.json
${SP}/pub_sub_1mb_ipc_on.json
${SP}/pub_sub_4mb_ipc_on.json
${SP}/pub_sub_10b_ipc_off.json
${SP}/pub_sub_100kb_ipc_off.json
${SP}/pub_sub_1mb_ipc_off.json
${SP}/pub_sub_4mb_ipc_off.json
)
install(FILES
${TOPOLOGY_FILES_SINGLE_PROCESS}
DESTINATION lib/${PROJECT_NAME}/${SP})
set(MP topology/multi_process)
set(TOPOLOGY_FILES_MULTI_PROCESS
${MP}/pub_ipc_off_10b.json
${MP}/pub_ipc_off_100kb.json
${MP}/pub_ipc_off_1mb.json
${MP}/pub_ipc_off_4mb.json
${MP}/sub_ipc_off_10b.json
${MP}/sub_ipc_off_100kb.json
${MP}/sub_ipc_off_1mb.json
${MP}/sub_ipc_off_4mb.json
${MP}/pub_loaned_10b.json
${MP}/pub_loaned_100kb.json
${MP}/pub_loaned_1mb.json
${MP}/pub_loaned_4mb.json
${MP}/sub_loaned_10b.json
${MP}/sub_loaned_100kb.json
${MP}/sub_loaned_1mb.json
${MP}/sub_loaned_4mb.json
)
install(FILES
${TOPOLOGY_FILES_MULTI_PROCESS}
DESTINATION lib/${PROJECT_NAME}/${MP})
set(PROFILES
profiles/ignore_local_endpoints.xml
profiles/shared_memory_fastdds_config.xml)
install(FILES
${PROFILES}
DESTINATION lib/${PROJECT_NAME}/profiles)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()