99 lines
2.3 KiB
CMake
99 lines
2.3 KiB
CMake
|
# Copyright 2025 Reazon Holdings, Inc.
|
||
|
|
#
|
||
|
|
# Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
# you may not use this file except in compliance with the License.
|
||
|
|
# You may obtain a copy of the License at
|
||
|
|
#
|
||
|
|
# http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
#
|
||
|
|
# Unless required by applicable law or agreed to in writing, software
|
||
|
|
# distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
# See the License for the specific language governing permissions and
|
||
|
|
# limitations under the License.
|
||
|
|
|
||
|
|
cmake_minimum_required(VERSION 3.22)
|
||
|
|
project(openarm_mujoco_hardware)
|
||
|
|
|
||
|
|
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
|
||
|
|
add_compile_options(-Wall -Wextra -Wpedantic)
|
||
|
|
endif()
|
||
|
|
|
||
|
|
# find dependencies
|
||
|
|
find_package(ament_cmake REQUIRED)
|
||
|
|
find_package(hardware_interface REQUIRED)
|
||
|
|
find_package(pluginlib REQUIRED)
|
||
|
|
find_package(rclcpp REQUIRED)
|
||
|
|
find_package(rclcpp_lifecycle REQUIRED)
|
||
|
|
find_package(Boost REQUIRED)
|
||
|
|
find_package(nlohmann_json REQUIRED)
|
||
|
|
|
||
|
|
add_library(${PROJECT_NAME} SHARED
|
||
|
|
src/openarm_mujoco_hardware.cpp
|
||
|
|
)
|
||
|
|
|
||
|
|
target_include_directories(
|
||
|
|
${PROJECT_NAME}
|
||
|
|
PRIVATE
|
||
|
|
include
|
||
|
|
)
|
||
|
|
|
||
|
|
ament_target_dependencies(${PROJECT_NAME} PUBLIC
|
||
|
|
hardware_interface
|
||
|
|
pluginlib
|
||
|
|
rclcpp
|
||
|
|
rclcpp_lifecycle
|
||
|
|
)
|
||
|
|
|
||
|
|
pluginlib_export_plugin_description_file(hardware_interface openarm_mujoco_hardware.xml)
|
||
|
|
|
||
|
|
target_link_libraries(${PROJECT_NAME} PRIVATE Boost::headers nlohmann_json::nlohmann_json)
|
||
|
|
|
||
|
|
|
||
|
|
install(
|
||
|
|
TARGETS ${PROJECT_NAME}
|
||
|
|
DESTINATION lib
|
||
|
|
)
|
||
|
|
|
||
|
|
install(DIRECTORY include/
|
||
|
|
DESTINATION include
|
||
|
|
)
|
||
|
|
|
||
|
|
|
||
|
|
if(BUILD_TESTING)
|
||
|
|
find_package(ament_lint_auto REQUIRED)
|
||
|
|
find_package(ament_cmake_gmock REQUIRED)
|
||
|
|
find_package(hardware_interface REQUIRED)
|
||
|
|
find_package(ros2_control_test_assets REQUIRED)
|
||
|
|
|
||
|
|
ament_add_gmock(test_openarm_mujoco_hardware
|
||
|
|
test/test_load_openarm_mujoco_hardware.cpp
|
||
|
|
)
|
||
|
|
target_link_libraries(test_openarm_mujoco_hardware
|
||
|
|
${PROJECT_NAME}
|
||
|
|
)
|
||
|
|
ament_target_dependencies(test_openarm_mujoco_hardware
|
||
|
|
hardware_interface
|
||
|
|
ros2_control_test_assets
|
||
|
|
)
|
||
|
|
|
||
|
|
set(ament_cmake_copyright_FOUND TRUE)
|
||
|
|
set(ament_cmake_cpplint_FOUND TRUE)
|
||
|
|
ament_lint_auto_find_test_dependencies()
|
||
|
|
endif()
|
||
|
|
|
||
|
|
ament_export_include_directories(
|
||
|
|
include
|
||
|
|
)
|
||
|
|
|
||
|
|
ament_export_libraries(
|
||
|
|
${PROJECT_NAME}
|
||
|
|
)
|
||
|
|
ament_export_dependencies(
|
||
|
|
hardware_interface
|
||
|
|
pluginlib
|
||
|
|
rclcpp
|
||
|
|
)
|
||
|
|
|
||
|
|
ament_package()
|