Made basic interfacing with odrive

mg_wheel_interface/CMakeLists.txt

@@ -7,9 +7,45 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package(<dependency> 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_wheel_interface
+  SHARED
+  src/mg_wheel_interface.cpp
+)
+
+target_include_directories(
+  mg_wheel_interface
+  PRIVATE
+  ${LIBSERIAL_INCLUDE_DIRS}
+  include
+)
+
+target_link_libraries(
+  mg_wheel_interface
+  ${LIBSERIAL_LIBRARIES}
+)
+
+ament_target_dependencies(
+  mg_wheel_interface
+  rclcpp
+  pluginlib
+  hardware_interface
+  rclcpp_lifecycle
+)
+pluginlib_export_plugin_description_file(hardware_interface mg_wheel_interface.xml)
+
+install(
+  TARGETS mg_wheel_interface
+  DESTINATION lib
+)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)