mirror of
https://github.com/westonrobot/scout_ros.git
synced 2026-01-12 19:25:01 +08:00
156 lines
5.1 KiB
CMake
156 lines
5.1 KiB
CMake
cmake_minimum_required(VERSION 2.8.3)
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project(scout_sdk)
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## Compile as C++11, supported in ROS Kinetic and newer
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add_compile_options(-std=c++11)
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## Find catkin macros and libraries
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find_package(catkin REQUIRED COMPONENTS
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roscpp
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std_msgs
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)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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# catkin_python_setup()
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################################################
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## Declare ROS messages, services and actions ##
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################################################
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## To declare and build messages, services or actions from within this
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## package, follow these steps:
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## * Let MSG_DEP_SET be the set of packages whose message types you use in
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## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
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## * In the file package.xml:
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## * add a build_depend tag for "message_generation"
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## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
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## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
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## but can be declared for certainty nonetheless:
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## * add a exec_depend tag for "message_runtime"
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## * In this file (CMakeLists.txt):
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## * add "message_generation" and every package in MSG_DEP_SET to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * add "message_runtime" and every package in MSG_DEP_SET to
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## catkin_package(CATKIN_DEPENDS ...)
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## * uncomment the add_*_files sections below as needed
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## and list every .msg/.srv/.action file to be processed
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## * uncomment the generate_messages entry below
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## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
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## Generate messages in the 'msg' folder
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# add_message_files(
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# FILES
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# Message1.msg
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# Message2.msg
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# )
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## Generate services in the 'srv' folder
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# add_service_files(
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# FILES
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# Service1.srv
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# Service2.srv
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# )
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## Generate actions in the 'action' folder
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# add_action_files(
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# FILES
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# Action1.action
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# Action2.action
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# )
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## Generate added messages and services with any dependencies listed here
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# generate_messages(
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# DEPENDENCIES
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# std_msgs
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# )
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################################################
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## Declare ROS dynamic reconfigure parameters ##
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################################################
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## To declare and build dynamic reconfigure parameters within this
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## package, follow these steps:
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## * In the file package.xml:
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## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
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## * In this file (CMakeLists.txt):
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## * add "dynamic_reconfigure" to
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## find_package(catkin REQUIRED COMPONENTS ...)
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## * uncomment the "generate_dynamic_reconfigure_options" section below
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## and list every .cfg file to be processed
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## Generate dynamic reconfigure parameters in the 'cfg' folder
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# generate_dynamic_reconfigure_options(
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# cfg/DynReconf1.cfg
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# cfg/DynReconf2.cfg
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# )
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if your package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES scout_sdk
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CATKIN_DEPENDS roscpp std_msgs
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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## Declare a C++ library
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set(SCOUT_BASE_SRC
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src/scout_base.cpp
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src/scout_protocol/scout_can_parser.c
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src/scout_protocol/scout_uart_parser.c
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src/async_io/async_serial.cpp
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src/async_io/async_can.cpp
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src/async_io/asyncio_utils.cpp
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)
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add_library(scout_sdk STATIC ${SCOUT_BASE_SRC})
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set_target_properties(scout_sdk PROPERTIES POSITION_INDEPENDENT_CODE ON)
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target_compile_definitions(scout_sdk PUBLIC "-DASIO_ENABLE_OLD_SERVICES -DASIO_HAS_POSIX_STREAM_DESCRIPTOR")
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target_link_libraries(scout_sdk pthread ${catkin_LIBRARIES})
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target_include_directories(scout_sdk PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/asio>
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$<INSTALL_INTERFACE:include>
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PRIVATE src)
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#############
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## Install ##
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#############
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install(TARGETS scout_sdk
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
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install(DIRECTORY asio/asio
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DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
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install(FILES asio/asio.hpp
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DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
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install(DIRECTORY scripts
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) |