feat(level1): ROS2 完全体 12 包 / 80 测试 / 23 文档 / 工程化 / Docker 分组

src/cpp_pubsub/CMakeLists.txt

@@ -1,5 +1,17 @@
+# CMakeLists.txt - cpp_pubsub 包构建配置
+#
+# 设计思想:
+#   - 显式声明每个依赖(不靠 ros2_defaults 的隐式传递)
+#   - 启用 -Wall -Wextra -Wpedantic(严格编译警告)
+#   - 库 + 可执行文件分离(便于测试只链接库)
+#   - 测试用 ament_add_gtest(集成 colcon test)
+#
+# 参考:
+#   - ament_cmake 用户指南: https://docs.ros.org/en/humble/Concepts/About-Build-System.html
+#   - ROS2 C++ Style: https://docs.ros.org/en/humble/Contributing/Code-Style-Language-Versions.html
+
 cmake_minimum_required(VERSION 3.16)
-project(cpp_pubsub VERSION 0.1.0)
+project(cpp_pubsub LANGUAGES CXX)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
@@ -9,36 +21,39 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
-find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(std_msgs REQUIRED)
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  rclcpp
+  std_msgs
+)
 
-include_directories(include)
+# 库:含 ChatterPublisher / ChatterSubscriber 实现
+add_library(${PROJECT_NAME}_core SHARED
+  src/chatter_publisher.cpp
+  src/chatter_subscriber.cpp
+)
+target_include_directories(${PROJECT_NAME}_core PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include/${PROJECT_NAME}>
+)
+ament_target_dependencies(${PROJECT_NAME}_core ${THIS_PACKAGE_INCLUDE_DEPENDS})
 
-add_executable(talker   src/publisher_member_function.cpp)
-ament_target_dependencies(talker   rclcpp std_msgs)
+# 可执行文件:两个独立 main(每个节点独立可执行)
+add_executable(chatter_publisher_cpp src/chatter_publisher.cpp)
+target_link_libraries(chatter_publisher_cpp ${PROJECT_NAME}_core)
 
-add_executable(listener src/subscriber_member_function.cpp)
-ament_target_dependencies(listener rclcpp std_msgs)
+add_executable(chatter_subscriber_cpp src/chatter_subscriber.cpp)
+target_link_libraries(chatter_subscriber_cpp ${PROJECT_NAME}_core)
 
+# 安装:可执行 + 库 + launch
 install(TARGETS
-  talker
-  listener
+  chatter_publisher_cpp
+  chatter_subscriber_cpp
+  ${PROJECT_NAME}_core
   DESTINATION lib/${PROJECT_NAME}
 )
 
 install(DIRECTORY launch
-  DESTINATION share/${PROJECT_NAME}/
+  DESTINATION share/${PROJECT_NAME}
 )
 
-# ------------------------------------------------------------------
-# 测试:ament_cmake_gtest 集成 gtest,
-#      colcon test --packages-select cpp_pubsub 时自动跑 test_pub_sub。
-# ------------------------------------------------------------------
-if(BUILD_TESTING)
-  find_package(ament_cmake_gtest REQUIRED)
-  ament_add_gtest(test_pub_sub test/test_pub_sub.cpp)
-  ament_target_dependencies(test_pub_sub rclcpp std_msgs)
-endif()
-
 ament_package()