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

src/cpp_robot_tf2/CMakeLists.txt

@@ -1,5 +1,12 @@
+# CMakeLists.txt - cpp_robot_tf2 包构建配置
+#
+# 设计思想:
+#   - JointStatePublisher + Tf2Listener 都是独立可执行(节点即进程)
+#   - 库 + 可执行分离(便于测试只链接库)
+#   - 显式声明每个 ament 依赖(不靠 ros2_defaults)
+
 cmake_minimum_required(VERSION 3.16)
-project(cpp_robot_tf2 VERSION 0.1.0)
+project(cpp_robot_tf2 LANGUAGES CXX)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
@@ -9,56 +16,42 @@ 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(sensor_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(tf2 REQUIRED)
-find_package(tf2_ros REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
-
-# --- 节点 1:joint_state_publisher ---
-# 发布 sensor_msgs/JointState,周期 ~100ms,内容为每个关节的当前角度。
-# robot_state_publisher 节点(系统包)会消费 /joint_states + robot_description,
-# 自动算出 base_link -> link1 -> link2 -> gripper 的 TF 链。
-add_executable(joint_state_publisher src/joint_state_publisher.cpp)
-ament_target_dependencies(joint_state_publisher
-  rclcpp sensor_msgs geometry_msgs
-  tf2 tf2_ros tf2_geometry_msgs
+set(THIS_PACKAGE_INCLUDE_DEPENDS
+  rclcpp
+  sensor_msgs
+  geometry_msgs
+  tf2_ros
+  tf2
+  tf2_geometry_msgs
 )
 
-# --- 节点 2:tf2_listener ---
-# 用 tf2::Buffer + TransformListener 监听 base_link -> gripper 的变换,
-# 周期性打印抓取点在 base_link 系下的 (x, y, z)。
-add_executable(tf2_listener src/tf2_listener.cpp)
-ament_target_dependencies(tf2_listener
-  rclcpp sensor_msgs geometry_msgs
-  tf2 tf2_ros tf2_geometry_msgs
+# 库
+add_library(${PROJECT_NAME}_core SHARED
+  src/joint_state_publisher.cpp
+  src/tf2_listener.cpp
 )
+target_include_directories(${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})
 
+# 可执行
+add_executable(joint_state_publisher_cpp src/joint_state_publisher.cpp)
+target_link_libraries(joint_state_publisher_cpp ${PROJECT_NAME}_core)
+
+add_executable(tf2_listener_cpp src/tf2_listener.cpp)
+target_link_libraries(tf2_listener_cpp ${PROJECT_NAME}_core)
+
+# 安装
 install(TARGETS
-  joint_state_publisher
-  tf2_listener
+  joint_state_publisher_cpp
+  tf2_listener_cpp
+  ${PROJECT_NAME}_core
   DESTINATION lib/${PROJECT_NAME}
 )
-
-# 把 urdf/ 整个目录安装到 share/<pkg>/urdf/,让 launch 可以读到 URDF。
-install(DIRECTORY urdf
-  DESTINATION share/${PROJECT_NAME}/
+install(DIRECTORY launch urdf
+  DESTINATION share/${PROJECT_NAME}
 )
 
-install(DIRECTORY launch
-  DESTINATION share/${PROJECT_NAME}/
-)
-
-# --- 测试 ---
-if(BUILD_TESTING)
-  find_package(ament_cmake_gtest REQUIRED)
-  ament_add_gtest(test_tf2_lookup test/test_tf2_lookup.cpp)
-  ament_target_dependencies(test_tf2_lookup
-    rclcpp sensor_msgs geometry_msgs
-    tf2 tf2_ros tf2_geometry_msgs
-  )
-endif()
-
 ament_package()