-
Notifications
You must be signed in to change notification settings - Fork 325
/
CMakeLists.txt
86 lines (72 loc) · 2.5 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
cmake_minimum_required(VERSION 3.5)
project(demo_nodes_cpp_native)
# 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)
endif()
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rmw REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rmw_fastrtps_cpp QUIET)
include_directories(include)
if(rmw_fastrtps_cpp_FOUND)
add_library(talker_native SHARED
src/talker.cpp)
target_compile_definitions(talker_native
PRIVATE "DEMO_NODES_CPP_NATIVE_BUILDING_DLL")
ament_target_dependencies(talker_native
"rclcpp"
"std_msgs"
"rclcpp_components"
"rmw_fastrtps_cpp")
rclcpp_components_register_node(talker_native PLUGIN "demo_nodes_cpp_native::Talker" EXECUTABLE talker)
install(TARGETS
talker_native
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
find_package(ament_cmake_pytest REQUIRED)
find_package(launch_testing_ament_cmake REQUIRED)
set(tutorial_executables "talker")
set(DEMO_NODES_CPP_EXPECTED_OUTPUT "")
foreach(executable ${tutorial_executables})
list(APPEND DEMO_NODES_CPP_EXPECTED_OUTPUT "${CMAKE_CURRENT_SOURCE_DIR}/test/${executable}")
endforeach()
set(DEMO_NODES_CPP_EXECUTABLE "")
foreach(executable ${tutorial_executables})
list(APPEND DEMO_NODES_CPP_EXECUTABLE "$<TARGET_FILE:${executable}>")
endforeach()
string(REPLACE ";" "_" exe_list_underscore "${tutorial_executables}")
configure_file(
test/test_executables_tutorial.py.in
test_${exe_list_underscore}.py.configured
@ONLY
)
file(GENERATE
OUTPUT "${CMAKE_CURRENT_BINARY_DIR}/test_${exe_list_underscore}_$<CONFIG>.py"
INPUT "${CMAKE_CURRENT_BINARY_DIR}/test_${exe_list_underscore}.py.configured"
)
add_launch_test(
"${CMAKE_CURRENT_BINARY_DIR}/test_${exe_list_underscore}_$<CONFIG>.py"
TARGET test_tutorial_${exe_list_underscore}
TIMEOUT 30
ENV
RCL_ASSERT_RMW_ID_MATCHES=rmw_fastrtps_cpp
RMW_IMPLEMENTATION=rmw_fastrtps_cpp
)
foreach(executable ${tutorial_executables})
set_property(
TEST test_tutorial_${exe_list_underscore}
APPEND PROPERTY DEPENDS ${executable})
endforeach()
endif()
endif()
ament_package()