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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(diffdrive_arduino)
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra)
endif()
find_package(ament_cmake REQUIRED)
find_package(serial REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(controller_manager REQUIRED)
find_package(rclcpp REQUIRED)
find_package(pluginlib REQUIRED)
add_library(diffdrive_arduino SHARED src/diffdrive_arduino.cpp src/wheel.cpp src/arduino_comms.cpp)
target_include_directories(
diffdrive_arduino
PRIVATE
include
)
ament_target_dependencies(
diffdrive_arduino
hardware_interface
controller_manager
serial
rclcpp
pluginlib
)
pluginlib_export_plugin_description_file(hardware_interface robot_hardware.xml)
add_library(fake_robot SHARED src/fake_robot.cpp src/wheel.cpp)
set_property(TARGET fake_robot PROPERTY POSITION_INDEPENDENT_CODE ON)
target_include_directories(
fake_robot
PRIVATE
include
)
ament_target_dependencies(
fake_robot
hardware_interface
controller_manager
rclcpp
pluginlib
)
pluginlib_export_plugin_description_file(hardware_interface fake_robot_hardware.xml)
install(
TARGETS diffdrive_arduino fake_robot
DESTINATION lib
)
install(
DIRECTORY controllers launch/
DESTINATION share/${PROJECT_NAME}
)
ament_export_libraries(
diffdrive_arduino
fake_robot
)
ament_export_dependencies(
hardware_interface
controller_manager
serial
rclcpp
pluginlib
)
ament_package()