init: ROS2 learning suite

2026-08-03 18:09:35 +08:00
commit 5ef38ab508
95 changed files with 13322 additions and 0 deletions
@@ -0,0 +1,44 @@
+cmake_minimum_required(VERSION 3.16)
+project(cpp_pubsub VERSION 0.1.0)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 17)
+endif()
+
+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)
+
+include_directories(include)
+
+add_executable(talker   src/publisher_member_function.cpp)
+ament_target_dependencies(talker   rclcpp std_msgs)
+
+add_executable(listener src/subscriber_member_function.cpp)
+ament_target_dependencies(listener rclcpp std_msgs)
+
+install(TARGETS
+  talker
+  listener
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+install(DIRECTORY launch
+  DESTINATION share/${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()