84 lines
1.6 KiB
CMake
84 lines
1.6 KiB
CMake
cmake_minimum_required(VERSION 3.8)
|
|
project(openarm_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)
|
|
# uncomment the following section in order to fill in
|
|
# further dependencies manually.
|
|
find_package(hardware_interface REQUIRED)
|
|
find_package(pluginlib REQUIRED)
|
|
find_package(rclcpp REQUIRED)
|
|
find_package(rclcpp_lifecycle REQUIRED)
|
|
|
|
add_library(${PROJECT_NAME} SHARED
|
|
src/openarm_hardware.cpp
|
|
src/canbus.cpp
|
|
src/motor.cpp
|
|
src/motor_control.cpp
|
|
)
|
|
|
|
target_include_directories(
|
|
${PROJECT_NAME}
|
|
PRIVATE
|
|
include
|
|
)
|
|
|
|
ament_target_dependencies(${PROJECT_NAME}
|
|
hardware_interface
|
|
pluginlib
|
|
rclcpp
|
|
rclcpp_lifecycle
|
|
)
|
|
|
|
pluginlib_export_plugin_description_file(hardware_interface openarm_hardware.xml)
|
|
|
|
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)
|
|
|
|
ament_add_gmock(test_openarm_hardware
|
|
test/test_openarm_hardware.cpp
|
|
)
|
|
target_link_libraries(test_openarm_hardware
|
|
${PROJECT_NAME}
|
|
)
|
|
ament_target_dependencies(test_openarm_hardware
|
|
hardware_interface
|
|
)
|
|
|
|
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()
|