58 lines
1.1 KiB
CMake
58 lines
1.1 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(mg_control)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(hardware_interface REQUIRED)
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find_package(rclcpp_lifecycle REQUIRED)
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find_package(rclcpp_components REQUIRED)
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include(FindPkgConfig)
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pkg_search_module(LIBSERIAL REQUIRED libserial)
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add_library(
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mg_control
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SHARED
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src/mg_control.cpp
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)
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target_include_directories(
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mg_control
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PRIVATE
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${LIBSERIAL_INCLUDE_DIRS}
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include
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)
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target_link_libraries(
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mg_control
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${LIBSERIAL_LIBRARIES}
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)
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ament_target_dependencies(
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mg_control
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rclcpp
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pluginlib
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hardware_interface
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rclcpp_lifecycle
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)
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pluginlib_export_plugin_description_file(hardware_interface mg_control_interfaces.xml)
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install(
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TARGETS mg_control
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DESTINATION lib
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)
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install(DIRECTORY
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launch assets
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DESTINATION share/${PROJECT_NAME}/
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)
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target_compile_features(mg_control PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
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ament_package()
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