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CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(quik)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(Eigen3 REQUIRED NO_MODULE)
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
include_directories(include)
include_directories(${EIGEN3_INCLUDE_DIR})
rosidl_generate_interfaces(${PROJECT_NAME}
"srv/IKService.srv"
"srv/FKService.srv"
"srv/JacobianService.srv"
DEPENDENCIES geometry_msgs std_msgs
)
# Install header files
install(DIRECTORY include/
DESTINATION include
)
# Add executable
add_executable(sample_cpp_usage
src/sample_cpp_usage.cpp
src/geometry.cpp)
ament_target_dependencies(sample_cpp_usage Eigen3)
add_executable(ros_kinematics_service_node
src/ros_kinematics_service_node.cpp
src/geometry.cpp
src/ros_helpers.cpp)
ament_target_dependencies(ros_kinematics_service_node
rclcpp
Eigen3
rosidl_default_runtime
geometry_msgs
std_msgs)
add_executable(sample_ros_client_node
src/sample_ros_client_node.cpp
src/geometry.cpp
src/ros_helpers.cpp)
ament_target_dependencies(sample_ros_client_node
rclcpp
Eigen3
rosidl_default_runtime
geometry_msgs
std_msgs)
add_executable(sample_ros_cpp_node
src/sample_ros_cpp_node.cpp
src/geometry.cpp
src/ros_helpers.cpp)
ament_target_dependencies(sample_ros_cpp_node
rclcpp
Eigen3
rosidl_default_runtime
geometry_msgs
std_msgs)
ament_export_dependencies(rosidl_default_runtime)
# Install library and create export set
install(TARGETS
sample_cpp_usage
ros_kinematics_service_node
sample_ros_client_node
sample_ros_cpp_node
DESTINATION lib/${PROJECT_NAME})
install(TARGETS
DESTINATION lib/${PROJECT_NAME}
EXPORT ${PROJECT_NAME}_export
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
)
# Install launch files
install(
DIRECTORY launch
DESTINATION share/${PROJECT_NAME}/
)
# Install config files
install(
DIRECTORY config
DESTINATION share/${PROJECT_NAME}/
)
# Export include directories
ament_export_include_directories(include)
rosidl_get_typesupport_target(cpp_typesupport_target
${PROJECT_NAME} rosidl_typesupport_cpp)
target_link_libraries(ros_kinematics_service_node "${cpp_typesupport_target}")
target_link_libraries(sample_ros_client_node "${cpp_typesupport_target}")
target_link_libraries(sample_ros_cpp_node "${cpp_typesupport_target}")
ament_package()