82 lines
2.4 KiB
CMake
82 lines
2.4 KiB
CMake
################################################################################
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# Set minimum required version of cmake, project name and compile options
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################################################################################
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cmake_minimum_required(VERSION 3.5)
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project(sllidar_ros2)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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if(MSVC)
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add_compile_definitions(
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_USE_MATH_DEFINES
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)
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endif()
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set(SLLIDAR_SDK_PATH "./sdk/")
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FILE(GLOB SLLIDAR_SDK_SRC
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"${SLLIDAR_SDK_PATH}/src/arch/linux/*.cpp"
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"${SLLIDAR_SDK_PATH}/src/hal/*.cpp"
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"${SLLIDAR_SDK_PATH}/src/*.cpp"
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"${SLLIDAR_SDK_PATH}/src/dataunpacker/*.cpp"
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"${SLLIDAR_SDK_PATH}/src/dataunpacker/unpacker/*.cpp"
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)
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################################################################################
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# Find ament packages and libraries for ament and system dependencies
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################################################################################
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(std_srvs REQUIRED)
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################################################################################
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# Build
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################################################################################
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include_directories(
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${SLLIDAR_SDK_PATH}/include
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${SLLIDAR_SDK_PATH}/src
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${Boost_INCLUDE_DIRS}
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)
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add_executable(sllidar_node src/sllidar_node.cpp ${SLLIDAR_SDK_SRC})
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# target_link_libraries(sllidar_node ${ament_cmake_LIBRARIES})
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ament_target_dependencies(sllidar_node
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rclcpp
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std_srvs
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sensor_msgs
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)
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add_executable(sllidar_client src/sllidar_client.cpp)
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ament_target_dependencies(sllidar_client
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rclcpp
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std_srvs
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sensor_msgs
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)
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################################################################################
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# Install
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################################################################################
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install(DIRECTORY launch rviz
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DESTINATION share/${PROJECT_NAME}
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)
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install(
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TARGETS sllidar_node sllidar_client
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RUNTIME DESTINATION lib/${PROJECT_NAME}
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)
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################################################################################
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# Macro for ament package
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################################################################################
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ament_export_dependencies(rclcpp)
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ament_export_dependencies(std_msgs)
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ament_export_dependencies(sensor_msgs)
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ament_export_include_directories(include)
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ament_package()
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