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Use modern cmake to fix compiling on ROS2 #96

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Aug 4, 2021
Merged

Use modern cmake to fix compiling on ROS2 #96

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18 changes: 6 additions & 12 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -23,21 +23,16 @@ find_package(TinyXML2 REQUIRED)
# Set VERSION from package.xml
ament_package_xml()

include_directories(include ${rclcpp_INCLUDE_DIRS}
${rmw_implementation_INCLUDE_DIRS}
${Boost_INCLUDE_DIR}
${urdfdom_headers_INCLUDE_DIRS}
${urdf_INCLUDE_DIRS}
${std_msgs_INCLUDE_DIRS}
)

add_library(${PROJECT_NAME} SHARED
src/model.cpp
src/srdf_writer.cpp
)
set_target_properties(${PROJECT_NAME} PROPERTIES
VERSION ${${PROJECT_NAME}_VERSION})

target_include_directories(${PROJECT_NAME}
PUBLIC $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
# Ament dependencies
ament_target_dependencies(${PROJECT_NAME} PUBLIC
TinyXML2
Expand All @@ -47,10 +42,10 @@ ament_target_dependencies(${PROJECT_NAME} PUBLIC
)

install(TARGETS ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}
EXPORT ${PROJECT_NAME}Targets
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ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
RUNTIME DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION include/${PROJECT_NAME}
Expand Down Expand Up @@ -90,8 +85,7 @@ if(BUILD_TESTING)
ament_lint_auto_find_test_dependencies()
endif()

ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})
ament_export_targets(${PROJECT_NAME}Targets HAS_LIBRARY_TARGET)
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ament_export_dependencies(console_bridge)
ament_export_dependencies(urdfdom_headers)
ament_export_dependencies(urdf)
Expand Down