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CMakeLists.txt
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CMakeLists.txt
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# Copyright(c) 2020 eaibot limited.
cmake_minimum_required(VERSION 3.5)
project(ydlidar_ros2_driver C CXX)
##################ros2#############################################
# 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#####################################
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rmw REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(std_srvs REQUIRED)
############## YDLIDAR SDK START#####################################
#find ydlidar_sdk package
find_package(ydlidar_sdk REQUIRED)
############## YDLIDAR SDK END#####################################
#Include directories
include_directories(
${PROJECT_SOURCE_DIR}
${PROJECT_SOURCE_DIR}/src
${YDLIDAR_SDK_INCLUDE_DIRS})
#link library directories
link_directories(${YDLIDAR_SDK_LIBRARY_DIRS})
#---------------------------------------------------------------------------------------
# generate excutable and add libraries
#---------------------------------------------------------------------------------------
add_executable(${PROJECT_NAME}_node
src/${PROJECT_NAME}_node.cpp)
#---------------------------------------------------------------------------------------
# link libraries
#--------------------------------------------------------------------------------------
ament_target_dependencies(${PROJECT_NAME}_node
"rclcpp"
"sensor_msgs"
"visualization_msgs"
"geometry_msgs"
"std_srvs"
)
target_link_libraries(${PROJECT_NAME}_node
${YDLIDAR_SDK_LIBRARIES})
#---------------------------------------------------------------------------------------
# generate excutable and add libraries
#---------------------------------------------------------------------------------------
add_executable(${PROJECT_NAME}_client
src/${PROJECT_NAME}_client.cpp)
#---------------------------------------------------------------------------------------
# link libraries
#--------------------------------------------------------------------------------------
ament_target_dependencies(${PROJECT_NAME}_client
"rclcpp"
"sensor_msgs"
"visualization_msgs"
"geometry_msgs"
"std_srvs"
)
#---------------------------------------------------------------------------------------
# Install
#---------------------------------------------------------------------------------------
install(TARGETS
${PROJECT_NAME}_node ${PROJECT_NAME}_client
DESTINATION lib/${PROJECT_NAME})
install(DIRECTORY launch params startup config
DESTINATION share/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()