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Install includes to include/${PROJECT_NAME} #548

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Jan 20, 2022
Merged

Install includes to include/${PROJECT_NAME} #548

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9a743b8
Install includes to include/${PROJECT_NAME}
sloretz Dec 22, 2021
ff42087
Add back old-style CMake variables
sloretz Jan 20, 2022
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23 changes: 10 additions & 13 deletions image_tools/CMakeLists.txt
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,8 +18,6 @@ find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(OpenCV REQUIRED COMPONENTS core highgui imgcodecs imgproc videoio)

include_directories(include)

add_library(${PROJECT_NAME} SHARED
src/burger.cpp
src/cam2image.cpp
Expand All @@ -30,13 +28,13 @@ target_compile_definitions(${PROJECT_NAME}
PRIVATE "IMAGE_TOOLS_BUILDING_DLL")
target_include_directories(${PROJECT_NAME} PUBLIC
"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
"$<INSTALL_INTERFACE:include>")
ament_target_dependencies(${PROJECT_NAME}
"rclcpp"
"sensor_msgs"
"std_msgs"
"rclcpp_components"
"OpenCV")
"$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
target_link_libraries(${PROJECT_NAME}
rclcpp::rclcpp
${sensor_msgs_TARGETS}
${std_msgs_TARGETS}
rclcpp_components::component
${OpenCV_LIBS})
rclcpp_components_register_node(${PROJECT_NAME} PLUGIN "image_tools::Cam2Image" EXECUTABLE cam2image)
rclcpp_components_register_node(${PROJECT_NAME} PLUGIN "image_tools::ShowImage" EXECUTABLE showimage)

Expand All @@ -46,12 +44,11 @@ install(
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin)

install(
DIRECTORY include/
DESTINATION include
)
install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})

# TODO(sloretz) stop exporting old-style CMake variables in the future
ament_export_libraries(${PROJECT_NAME})

ament_export_targets(${PROJECT_NAME})

ament_export_dependencies(rclcpp_components)
Expand Down
73 changes: 41 additions & 32 deletions intra_process_demo/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -12,15 +12,17 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
endif()

find_package(ament_cmake REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rmw REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)

find_package(OpenCV REQUIRED)
find_package(OpenCV REQUIRED COMPONENTS core highgui videoio)

include_directories(include)
ament_export_include_directories(include)
# TODO(sloretz) stop exporting old-style CMake variables in the future
ament_export_include_directories("include/${PROJECT_NAME}")

##
## Demos
Expand All @@ -29,56 +31,66 @@ ament_export_include_directories(include)
# Simple example of using unique_ptr to minimize copies.
add_executable(two_node_pipeline
src/two_node_pipeline/two_node_pipeline.cpp)
ament_target_dependencies(two_node_pipeline
"rclcpp"
"std_msgs")
target_link_libraries(two_node_pipeline
rclcpp::rclcpp
${std_msgs_TARGETS})

# Simple example of a cyclic pipeline which uses no allocation while iterating.
add_executable(cyclic_pipeline
src/cyclic_pipeline/cyclic_pipeline.cpp)
ament_target_dependencies(cyclic_pipeline
"rclcpp"
"std_msgs")
target_link_libraries(cyclic_pipeline
rclcpp::rclcpp
${std_msgs_TARGETS})

# A single program with one of each of the image pipeline demo nodes.
add_executable(image_pipeline_all_in_one
src/image_pipeline/image_pipeline_all_in_one.cpp)
ament_target_dependencies(image_pipeline_all_in_one
"rclcpp"
"sensor_msgs"
"OpenCV")
target_link_libraries(image_pipeline_all_in_one
rclcpp::rclcpp
${builtin_interfaces_TARGETS}
${sensor_msgs_TARGETS}
opencv_core
opencv_highgui)

# A single program with one of each of the image pipeline demo nodes, but two image views.
add_executable(image_pipeline_with_two_image_view
src/image_pipeline/image_pipeline_with_two_image_view.cpp)
ament_target_dependencies(image_pipeline_with_two_image_view
"rclcpp"
"sensor_msgs"
"OpenCV")
target_link_libraries(image_pipeline_with_two_image_view
rclcpp::rclcpp
${builtin_interfaces_TARGETS}
${sensor_msgs_TARGETS}
opencv_core
opencv_highgui)

# A stand alone node which produces images from a camera using OpenCV.
add_executable(camera_node
src/image_pipeline/camera_node.cpp)
ament_target_dependencies(camera_node
"rclcpp"
"sensor_msgs"
"OpenCV")
target_link_libraries(camera_node
rclcpp::rclcpp
${builtin_interfaces_TARGETS}
${sensor_msgs_TARGETS}
opencv_core
opencv_highgui)

# A stand alone node which adds some text to an image using OpenCV before passing it along.
add_executable(watermark_node
src/image_pipeline/watermark_node.cpp)
ament_target_dependencies(watermark_node
"rclcpp"
"sensor_msgs"
"OpenCV")
target_link_libraries(watermark_node
rclcpp::rclcpp
${builtin_interfaces_TARGETS}
${sensor_msgs_TARGETS}
opencv_core
opencv_videoio)

# A stand alone node which consumes images and displays them using OpenCV.
add_executable(image_view_node
src/image_pipeline/image_view_node.cpp)
ament_target_dependencies(image_view_node
"rclcpp"
"sensor_msgs"
"OpenCV")
target_link_libraries(image_view_node
rclcpp::rclcpp
${builtin_interfaces_TARGETS}
${sensor_msgs_TARGETS}
opencv_core
opencv_highgui)

install(TARGETS
two_node_pipeline
Expand All @@ -90,10 +102,7 @@ install(TARGETS
image_view_node
DESTINATION lib/${PROJECT_NAME})

install(
DIRECTORY include/
DESTINATION include
)
install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
Expand Down
34 changes: 16 additions & 18 deletions quality_of_service_demo/rclcpp/CMakeLists.txt
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -20,18 +20,18 @@ find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)

include_directories(include)
ament_export_include_directories(include)
# TODO(sloretz) stop exporting old-style CMake variables in the future
ament_export_include_directories("include/${PROJECT_NAME}")

function(qos_demo_executable target)
add_executable(${target}
src/${target}.cpp
src/common_nodes.cpp
src/utils.cpp)
ament_target_dependencies(${target}
"rclcpp"
"rcutils"
"std_msgs"
)
target_link_libraries(${target}
rclcpp::rclcpp
rcutils::rcutils
${std_msgs_TARGETS})
install(TARGETS ${target} DESTINATION lib/${PROJECT_NAME})
endfunction()

Expand All @@ -45,12 +45,11 @@ qos_demo_executable(incompatible_qos)
add_library(message_lost SHARED
src/message_lost_listener.cpp
src/message_lost_talker.cpp)
ament_target_dependencies(message_lost
"rclcpp"
"rclcpp_components"
"rcutils"
"sensor_msgs"
)
target_link_libraries(message_lost
rclcpp::rclcpp
rclcpp_components::component
rcutils::rcutils
${sensor_msgs_TARGETS})
target_compile_definitions(message_lost
PRIVATE "QUALITY_OF_SERVICE_DEMO_BUILDING_DLL")
rclcpp_components_register_node(message_lost
Expand All @@ -64,12 +63,11 @@ add_library(qos_overrides SHARED
src/qos_overrides_listener.cpp
src/qos_overrides_talker.cpp
)
ament_target_dependencies(qos_overrides
"rclcpp"
"rclcpp_components"
"rcutils"
"sensor_msgs"
)
target_link_libraries(qos_overrides
rclcpp::rclcpp
rclcpp_components::component
rcutils::rcutils
${sensor_msgs_TARGETS})
target_compile_definitions(qos_overrides
PRIVATE "QUALITY_OF_SERVICE_DEMO_BUILDING_DLL")
rclcpp_components_register_node(qos_overrides
Expand Down
13 changes: 7 additions & 6 deletions topic_statistics_demo/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -18,18 +18,19 @@ find_package(sensor_msgs REQUIRED)
find_package(statistics_msgs REQUIRED)

include_directories(include)
ament_export_include_directories(include)
# TODO(sloretz) stop exporting old-style CMake variables in the future
ament_export_include_directories("include/${PROJECT_NAME}")

add_executable(display_topic_statistics
src/imu_talker_listener_nodes.cpp
src/display_topic_statistics.cpp
src/string_talker_listener_nodes.cpp
src/topic_statistics_listener.cpp)
ament_target_dependencies(display_topic_statistics
"rclcpp"
"rcutils"
"sensor_msgs"
"statistics_msgs")
target_link_libraries(display_topic_statistics
rclcpp::rclcpp
rcutils::rcutils
${sensor_msgs_TARGETS}
${statistics_msgs_TARGETS})
install(TARGETS display_topic_statistics DESTINATION lib/${PROJECT_NAME})

if(BUILD_TESTING)
Expand Down