70 lines
1.2 KiB
CMake
70 lines
1.2 KiB
CMake
cmake_minimum_required(VERSION 3.12)
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project(mg_bt)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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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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set(PACKAGE_DEPS
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rclcpp
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behaviortree_cpp
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behaviortree_ros2
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btcpp_ros2_interfaces
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tf2
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tf2_ros
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tf2_geometry_msgs
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mg_msgs
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std_msgs
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std_srvs
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)
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find_package(ament_cmake REQUIRED)
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include(FindPkgConfig)
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pkg_search_module(LIBGLM REQUIRED glm)
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foreach(PACKAGE ${PACKAGE_DEPS})
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find_package(${PACKAGE} REQUIRED)
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endforeach()
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set(SOURCES
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src/mg_bt.cpp
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src/mg_tree_executor.cpp
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)
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add_executable(mg_bt_executor ${SOURCES})
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add_executable(mg_i2cnode i2cmodule/i2cnode.cpp)
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target_include_directories(
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mg_bt_executor
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PRIVATE
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${LIBGLM_INCLUDE_DIRS}
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include
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)
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ament_target_dependencies(mg_bt_executor ${PACKAGE_DEPS})
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ament_target_dependencies(mg_i2cnode rclcpp mg_msgs)
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install( TARGETS
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mg_bt_executor
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mg_i2cnode
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DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY
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behavior_trees
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config
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launch
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DESTINATION share/${PROJECT_NAME}/
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)
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target_compile_features(mg_bt_executor PUBLIC
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c_std_99
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cxx_std_17
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) # Require C99 and C++17
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ament_package() |