-
Notifications
You must be signed in to change notification settings - Fork 0
/
CMakeLists.txt
139 lines (124 loc) · 3.14 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
cmake_minimum_required(VERSION 3.5)
project(odrive_cansimple_hardware_interface)
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
add_library(
odrive_cansimple_hardware_interface
SHARED
src/cansimple_hardware_interface.cpp
src/socketcan.cpp
)
target_include_directories(
odrive_cansimple_hardware_interface
PUBLIC
include
)
ament_target_dependencies(
odrive_cansimple_hardware_interface
hardware_interface
rclcpp
)
# prevent pluginlib from using boost
target_compile_definitions(odrive_cansimple_hardware_interface PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
pluginlib_export_plugin_description_file(
hardware_interface odrive_cansimple_hardware_interface.xml)
install(
TARGETS
odrive_cansimple_hardware_interface
RUNTIME DESTINATION bin
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
)
install(
DIRECTORY include/
DESTINATION include
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# uncomment the line when a copyright and license is not present in all source files
# set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# uncomment the line when this package is not in a git repo
# set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
find_package(ament_cmake_gmock REQUIRED)
find_package(ros2_control_test_assets REQUIRED)
ament_add_gmock(test_cansimple_hardware_interface test/test_cansimple_hardware_interface.cpp)
target_include_directories(test_cansimple_hardware_interface PRIVATE include)
ament_target_dependencies(
test_cansimple_hardware_interface
hardware_interface
pluginlib
ros2_control_test_assets
)
add_executable(
fake_resource_manager
test/fake_resource_manager.cpp
)
target_link_libraries(
fake_resource_manager
odrive_cansimple_hardware_interface
)
add_executable(
torque_control
test/torque_control.cpp
)
target_link_libraries(
torque_control
odrive_cansimple_hardware_interface
)
add_executable(
pos_control
test/pos_control.cpp
)
target_link_libraries(
pos_control
odrive_cansimple_hardware_interface
)
add_executable(
vel_control
test/vel_control.cpp
)
target_link_libraries(
vel_control
odrive_cansimple_hardware_interface
)
install(
TARGETS
fake_resource_manager
vel_control
pos_control
torque_control
RUNTIME DESTINATION bin
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
)
endif()
ament_export_include_directories(
include
)
ament_export_libraries(
odrive_cansimple_hardware_interface
)
ament_export_dependencies(
hardware_interface
pluginlib
rclcpp
)
ament_package()