Merge mg_wheel_interface with magrob

mg_control/CMakeLists.txt

@@ -0,0 +1,55 @@
+cmake_minimum_required(VERSION 3.8)
+project(mg_control)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(pluginlib REQUIRED)
+find_package(hardware_interface REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+find_package(rclcpp_components REQUIRED)
+include(FindPkgConfig)
+pkg_search_module(LIBSERIAL REQUIRED libserial)
+
+add_library(
+  mg_control
+  SHARED
+  src/mg_control.cpp
+)
+
+target_include_directories(
+  mg_control
+  PRIVATE
+  ${LIBSERIAL_INCLUDE_DIRS}
+  include
+)
+
+target_link_libraries(
+  mg_control
+  ${LIBSERIAL_LIBRARIES}
+)
+
+ament_target_dependencies(
+  mg_control
+  rclcpp
+  pluginlib
+  hardware_interface
+  rclcpp_lifecycle
+)
+pluginlib_export_plugin_description_file(hardware_interface mg_control_interfaces.xml)
+
+install(
+  TARGETS mg_control
+  DESTINATION lib
+)
+
+install(DIRECTORY
+  launch assets
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+ament_package()