dynamic_message_introspection/dynmsg_demo/CMakeLists.txt at main · selfpatch/dynamic_message_introspection · GitHub

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cmake_minimum_required(VERSION 3.20)
project(dynmsg_demo)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++17
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)
  set(FLAG_NO_WARNINGS "-w")
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(dynmsg REQUIRED)
find_package(rcl REQUIRED)
find_package(rcl_action REQUIRED)
find_package(yaml_cpp_vendor REQUIRED)

include_directories(include)
add_library(dynmsg_demo_library STATIC
  src/cli.cpp
  src/typesupport_utils.cpp
)
ament_target_dependencies(dynmsg_demo_library dynmsg rcl rcl_action yaml_cpp_vendor)
target_include_directories(dynmsg_demo_library PUBLIC
  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
  "$<INSTALL_INTERFACE:include>"
)
ament_export_include_directories(include)
ament_export_libraries(dynmsg_demo_library)
ament_export_targets(dynmsg_demo_library HAS_LIBRARY_TARGET)
ament_export_dependencies(dynmsg)
ament_export_dependencies(rcl)
ament_export_dependencies(rcl_action)

install(
  DIRECTORY include/
  DESTINATION include
)
install(
  TARGETS dynmsg_demo_library
  EXPORT dynmsg_demo_library
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES DESTINATION include
)

add_executable(clitool src/cli_tool.cpp)
# should have been PRIVATE, but ament uses the old signature and we can't mix them
target_link_libraries(clitool dynmsg_demo_library)
ament_target_dependencies(clitool dynmsg rcl yaml_cpp_vendor)

install(TARGETS clitool DESTINATION lib/${PROJECT_NAME})

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)
  ament_lint_auto_find_test_dependencies()

  find_package(ament_cmake_gtest REQUIRED)
  find_package(test_msgs REQUIRED)
  find_package(example_interfaces REQUIRED)
  find_package(dynmsg_msgs REQUIRED)
  find_package(geometry_msgs REQUIRED)
  find_package(std_msgs REQUIRED)

  if(TEST_ASAN)
    set(asan_link_lib -fsanitize=address)
  endif()

  ament_add_gtest(msg_parser_test test/msg_parser_test.cpp)
  if(TEST_ASAN)
    target_compile_options(msg_parser_test PRIVATE -fsanitize=address)
  endif()
  target_link_libraries(msg_parser_test dynmsg_demo_library ${asan_link_lib})
  ament_target_dependencies(msg_parser_test
    rcl
    test_msgs
    std_msgs
    dynmsg_msgs
    yaml_cpp_vendor
  )
  ament_add_gtest(read_msg_buffer test/test_read_msg_buffer.cpp)
  ament_target_dependencies(read_msg_buffer example_interfaces test_msgs yaml_cpp_vendor)
  target_link_libraries(read_msg_buffer dynmsg_demo_library)
endif()

ament_package()