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feat: enable to build with both ros1 and ros2 #16

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merged 2 commits into from
Oct 23, 2022
Merged

feat: enable to build with both ros1 and ros2 #16

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df8327f
feat: enable to build with both ros1 and ros2
Oct 20, 2022
3289a89
fix github action
Oct 20, 2022
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2 changes: 1 addition & 1 deletion .github/workflows/lint.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,7 @@ jobs:
- xmllint
- lint_cmake
steps:
- uses: actions/checkout@v2.4.0
- uses: actions/checkout@v2.5.0
- uses: ros-tooling/action-ros-lint@0.1.3
with:
linter: ${{ matrix.linter }}
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31 changes: 22 additions & 9 deletions CMakeLists.txt
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Expand Up @@ -2,7 +2,13 @@ cmake_minimum_required(VERSION 3.9)

project(osqp_vendor)

find_package(ament_cmake REQUIRED)
find_package(ros_environment REQUIRED)

if($ENV{ROS_VERSION} EQUAL 1)
find_package(catkin REQUIRED)
elseif($ENV{ROS_VERSION} EQUAL 2)
find_package(ament_cmake REQUIRED)
endif()

macro(build_osqp)
set(git_tag "v0.6.2")
Expand All @@ -15,7 +21,7 @@ macro(build_osqp)

include(ExternalProject)
externalproject_add(osqp-${git_tag}
GIT_REPOSITORY https://github.com/oxfordcontrol/osqp.git
GIT_REPOSITORY https://github.com/osqp/osqp.git
GIT_TAG ${git_tag}
GIT_SHALLOW ON
TIMEOUT 60
Expand All @@ -39,12 +45,19 @@ endmacro()

build_osqp()

ament_export_libraries(osqp)
ament_export_dependencies(osqp)
if($ENV{ROS_VERSION} EQUAL 1)
catkin_package(
LIBRARIES osqp
DEPENDS osqp
CFG_EXTRAS osqp_vendor-extras.cmake)
elseif($ENV{ROS_VERSION} EQUAL 2)
ament_export_libraries(osqp)
ament_export_dependencies(osqp)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
ament_package(CONFIG_EXTRAS cmake/osqp_vendor-extras.cmake)
endif()

ament_package(CONFIG_EXTRAS osqp_vendor-extras.cmake)
0 osqp_vendor-extras.cmake → cmake/osqp_vendor-extras.cmake
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12 changes: 8 additions & 4 deletions package.xml
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Expand Up @@ -12,13 +12,17 @@
<url type="website">https://github.com/oxfordcontrol/osqp</url>
<author email="esteve.fernandez@autoware.org">Esteve Fernandez</author>

<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
<buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
<buildtool_depend>git</buildtool_depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<build_depend>ros_environment</build_depend>

<test_depend condition="$ROS_VERSION == 2">ament_lint_auto</test_depend>
<test_depend condition="$ROS_VERSION == 2">ament_lint_common</test_depend>

<export>
<build_type>ament_cmake</build_type>
<build_type condition="$ROS_VERSION == 1">catkin</build_type>
<build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
</export>
</package>