xs
74 lines
2.0 KiB
CMake
74 lines
2.0 KiB
CMake
# 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 LANGUAGES CXX)
|
|
|
|
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()
|
|
|
|
# 必备: 找 ament_cmake + 依赖
|
|
find_package(ament_cmake REQUIRED)
|
|
find_package(rclcpp REQUIRED)
|
|
find_package(sensor_msgs REQUIRED)
|
|
find_package(geometry_msgs REQUIRED)
|
|
find_package(tf2_ros REQUIRED)
|
|
find_package(tf2 REQUIRED)
|
|
find_package(tf2_geometry_msgs REQUIRED)
|
|
|
|
set(THIS_PACKAGE_INCLUDE_DEPENDS
|
|
rclcpp
|
|
sensor_msgs
|
|
geometry_msgs
|
|
tf2_ros
|
|
tf2
|
|
tf2_geometry_msgs
|
|
)
|
|
|
|
# 库(只含类实现,不含 main)
|
|
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(main 单独文件)
|
|
add_executable(joint_state_publisher_cpp src/joint_state_publisher_main.cpp)
|
|
target_link_libraries(joint_state_publisher_cpp ${PROJECT_NAME}_core)
|
|
|
|
add_executable(tf2_listener_cpp src/tf2_listener_main.cpp)
|
|
target_link_libraries(tf2_listener_cpp ${PROJECT_NAME}_core)
|
|
|
|
# 安装
|
|
install(TARGETS
|
|
joint_state_publisher_cpp
|
|
tf2_listener_cpp
|
|
${PROJECT_NAME}_core
|
|
DESTINATION lib/${PROJECT_NAME}
|
|
)
|
|
install(DIRECTORY launch urdf
|
|
DESTINATION share/${PROJECT_NAME}
|
|
)
|
|
|
|
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 ${THIS_PACKAGE_INCLUDE_DEPENDS})
|
|
target_link_libraries(test_tf2_lookup ${PROJECT_NAME}_core)
|
|
endif()
|
|
|
|
ament_package() |