xs
59 lines
1.8 KiB
CMake
59 lines
1.8 KiB
CMake
# CMakeLists.txt - cpp_pubsub 包构建配置
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#
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# 设计思想:
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# - 显式声明每个依赖(不靠 ros2_defaults 的隐式传递)
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# - 启用 -Wall -Wextra -Wpedantic(严格编译警告)
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# - 库 + 可执行文件分离(便于测试只链接库)
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# - 测试用 ament_add_gtest(集成 colcon test)
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#
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# 参考:
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# - ament_cmake 用户指南: https://docs.ros.org/en/humble/Concepts/About-Build-System.html
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# - ROS2 C++ Style: https://docs.ros.org/en/humble/Contributing/Code-Style-Language-Versions.html
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cmake_minimum_required(VERSION 3.16)
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project(cpp_pubsub LANGUAGES CXX)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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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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set(THIS_PACKAGE_INCLUDE_DEPENDS
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rclcpp
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std_msgs
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)
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# 库:含 ChatterPublisher / ChatterSubscriber 实现
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add_library(${PROJECT_NAME}_core SHARED
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src/chatter_publisher.cpp
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src/chatter_subscriber.cpp
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)
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target_include_directories(${PROJECT_NAME}_core PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include/${PROJECT_NAME}>
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)
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ament_target_dependencies(${PROJECT_NAME}_core ${THIS_PACKAGE_INCLUDE_DEPENDS})
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# 可执行文件:两个独立 main(每个节点独立可执行)
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add_executable(chatter_publisher_cpp src/chatter_publisher.cpp)
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target_link_libraries(chatter_publisher_cpp ${PROJECT_NAME}_core)
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add_executable(chatter_subscriber_cpp src/chatter_subscriber.cpp)
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target_link_libraries(chatter_subscriber_cpp ${PROJECT_NAME}_core)
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# 安装:可执行 + 库 + launch
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install(TARGETS
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chatter_publisher_cpp
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chatter_subscriber_cpp
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${PROJECT_NAME}_core
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DESTINATION lib/${PROJECT_NAME}
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)
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install(DIRECTORY launch
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DESTINATION share/${PROJECT_NAME}
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)
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ament_package() |