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CMakeLists.txt improvements for packaging support #9

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Jun 27, 2024
Merged

CMakeLists.txt improvements for packaging support #9

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70 changes: 35 additions & 35 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,18 +1,18 @@
cmake_minimum_required(VERSION 3.10)

project(rosx_introspection LANGUAGES C CXX VERSION 1.0.0)
project(rosx_introspection LANGUAGES CXX VERSION 1.0.0)

# Build flags
#---- Enable C++17 ----
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

set(CMAKE_POSITION_INDEPENDENT_CODE ON)

find_package(ament_cmake QUIET)
option(USING_ROS2 "Use ROS2" "auto")
option(EXTERNAL_FASTCDR "Use external FastCDR" OFF)
option(CMAKE_POSITION_INDEPENDENT_CODE "Set -fPIC" ON)

if(USE_ROS2 STREQUAL "auto")
find_package(ament_cmake QUIET)
elif(USE_ROS2)
find_package(ament_cmake REQUIRED)
endif()
if (ament_cmake_FOUND)
set(USING_ROS2 TRUE)
set(USING_ROS2 TRUE CACHE BOOL "Use ROS2" FORCE)
find_package(rosbag2_cpp REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(rclcpp REQUIRED)
Expand All @@ -25,21 +25,10 @@ endif()

find_package(RapidJSON REQUIRED)

if(NOT USING_ROS2 )
message(STATUS "[FastCdr] not found, create static libraries")
# Override Fast-CDR option: compile as static lib
SET(BUILD_SHARED_LIBS OFF CACHE BOOL "Create static libraries by default")
add_subdirectory(3rdparty/Fast-CDR)
include_directories(3rdparty/Fast-CDR/include)
else()
# Mention that FastCdr has been found on system
message(STATUS "[FastCdr] found, version: ${fastcdr_VERSION}")
endif()

###############################################
## Declare a C++ library
###############################################
add_library(rosx_introspection STATIC
add_library(rosx_introspection
${SRC_FILES}
src/ros_type.cpp
src/ros_field.cpp
Expand All @@ -50,14 +39,25 @@ add_library(rosx_introspection STATIC
src/serializer.cpp
${EXTRA_SRC}
)
target_link_libraries(rosx_introspection PRIVATE rapidjson)
target_compile_features(rosx_introspection PUBLIC cxx_std_17)

if(USING_ROS2)
ament_target_dependencies(rosx_introspection
ament_index_cpp
rclcpp
rosbag2_cpp
fastcdr)
elseif(EXTERNAL_FASTCDR)
find_package(fastcdr REQUIRED)
message(STATUS "[FastCdr] found, version: ${fastcdr_VERSION}")
else()
message(STATUS "[FastCdr] not found, create static libraries")
# Override Fast-CDR option: compile as static lib
set(BUILD_SHARED_LIBS OFF CACHE BOOL "Create static libraries by default")
add_subdirectory(3rdparty/Fast-CDR)
endif()
target_link_libraries(rosx_introspection PRIVATE fastcdr)

target_include_directories(rosx_introspection PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
Expand Down Expand Up @@ -87,21 +87,21 @@ if(USING_ROS2)
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
endif()

install(
DIRECTORY include/
DESTINATION include
)

install(TARGETS rosx_introspection
EXPORT rosx_introspectionTargets
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION bin
INCLUDES DESTINATION include
)

ament_export_targets(rosx_introspectionTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(ament_index_cpp rosbag2_cpp fastcdr)
ament_package()

endif()

include(GNUInstallDirs)
install(
DIRECTORY include/
DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
)
install(TARGETS rosx_introspection
EXPORT rosx_introspectionTargets
ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
)
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