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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(ros2_serial_example)
# 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 -ggdb3)
endif()
find_package(ament_cmake_ros REQUIRED)
find_package(fastcdr REQUIRED CONFIG)
find_package(rclcpp REQUIRED)
find_package(ros2_serial_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(Threads REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(Python3 REQUIRED COMPONENTS Interpreter)
include_directories(include "${CMAKE_CURRENT_BINARY_DIR}")
if (ROS2_SERIAL_PKGS)
foreach(pkgs ${ROS2_SERIAL_PKGS})
find_package(${pkgs} REQUIRED)
endforeach(pkgs)
endif()
# This is the set of packages to build the ROS2<->serial bridge for. All
# messages in packages referenced by _packages will have support compiled in,
# and the individual messages mentioned in _msgs will also be compiled in.
#
# If a new package or message is added here, the corresponding package must
# be "find_package"d above and added to package.xml.
set(_packages
${ROS2_SERIAL_PKGS}
std_msgs
)
set(_msgs
)
# Given the packages and messages above, create the target for code generation.
set(_flags)
if (NOT "${_packages}" STREQUAL "")
set(_flags "${_flags}" "--packages" "${_packages}")
endif()
if (NOT "${_msgs}" STREQUAL "")
set(_flags "${_flags}" "--ros2-msgs" "${_msgs}")
endif()
set(_generator "${CMAKE_CURRENT_SOURCE_DIR}/generate_ros2_topics.py")
set(_tmpl_dir "${CMAKE_CURRENT_SOURCE_DIR}/templates")
set(_output_dir "${CMAKE_CURRENT_BINARY_DIR}")
# TODO(clalancette): CMake will *not* reexecute this if the generator file changes.
execute_process(
COMMAND ${Python3_EXECUTABLE} ${_generator} ${_tmpl_dir} ${_output_dir} --print-outputs ${_flags}
OUTPUT_VARIABLE _generated_sources
OUTPUT_STRIP_TRAILING_WHITESPACE
)
add_custom_command(
OUTPUT ${_generated_sources}
COMMAND ${Python3_EXECUTABLE} ${_generator} ${_tmpl_dir} ${_output_dir} ${_flags}
DEPENDS ${_generator} ${_tmpl_dir}/ros2_topics.hpp.em ${_tmpl_dir}/pub_sub_type.hpp.em ${_tmpl_dir}/pub_sub_type.cpp.em
COMMENT "Generating topics"
)
# Now setup the ament_target_dependencies for below.
set(_deps ${_packages})
foreach(msg ${_msgs})
string(REPLACE "/" ";" msglist ${msg})
list(LENGTH msglist msglen)
if (NOT ${msglen} EQUAL 2)
message(FATAL_ERROR "Invalid message format ${msg}, should be <package>/<name>")
endif()
list(GET msglist 0 pkg)
list(APPEND _deps ${pkg})
endforeach()
list(REMOVE_DUPLICATES _deps)
# Now setup the libraries for below.
set(_libs)
foreach(pkg ${_packages})
list(APPEND _libs ${${pkg}_LIBRARIES__rosidl_typesupport_fastrtps_cpp})
endforeach()
list(REMOVE_DUPLICATES _libs)
add_library(ring_buffer
src/ring_buffer.cpp
)
add_library(transporter
src/transporter.cpp
)
target_link_libraries(transporter
ring_buffer
)
add_library(bridge_gen
${_generated_sources}
)
ament_target_dependencies(bridge_gen
rclcpp
${_deps}
)
target_link_libraries(bridge_gen
fastcdr
${_libs}
)
add_library(ros2_to_serial_bridge SHARED
src/ros2_to_serial_bridge.cpp
src/uart_transporter.cpp
src/udp_transporter.cpp
)
ament_target_dependencies(ros2_to_serial_bridge
"rclcpp"
"rclcpp_components"
"ros2_serial_msgs")
target_link_libraries(ros2_to_serial_bridge
bridge_gen
fastcdr
ring_buffer
transporter
)
rclcpp_components_register_node(
ros2_to_serial_bridge
PLUGIN "ros2_to_serial_bridge::ROS2ToSerialBridge"
EXECUTABLE ros2_to_serial_bridge_node
)
add_executable(dummy_serial
src/dummy_serial.cpp
src/uart_transporter.cpp
)
ament_target_dependencies(dummy_serial
ros2_serial_msgs
)
target_link_libraries(dummy_serial
fastcdr
ring_buffer
transporter
${ros2_serial_msgs_LIBRARIES__rosidl_typesupport_fastrtps_cpp}
${CMAKE_THREAD_LIBS_INIT}
)
add_executable(dummy_udp
src/dummy_udp.cpp
src/udp_transporter.cpp
)
ament_target_dependencies(dummy_udp
ros2_serial_msgs
)
target_link_libraries(dummy_udp
fastcdr
ring_buffer
transporter
${ros2_serial_msgs_LIBRARIES__rosidl_typesupport_fastrtps_cpp}
${CMAKE_THREAD_LIBS_INIT}
)
install(TARGETS ring_buffer transporter bridge_gen
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(TARGETS
dummy_serial
dummy_udp
ros2_to_serial_bridge_node
DESTINATION lib/${PROJECT_NAME}
)
install(TARGETS
ros2_to_serial_bridge
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
install(DIRECTORY launch config
DESTINATION share/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
ament_add_gtest(test_ring_buffer test/test_ring_buffer.cpp)
target_link_libraries(test_ring_buffer ring_buffer)
ament_add_gtest(test_transporter test/test_transporter.cpp)
target_link_libraries(test_transporter transporter)
ament_add_gtest(test_ros2_topics test/test_ros2_topics.cpp)
target_link_libraries(test_ros2_topics transporter bridge_gen)
endif()
ament_package()