75 lines
1.8 KiB
CMake
75 lines
1.8 KiB
CMake
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cmake_minimum_required(VERSION 3.5)
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project(go2py_node)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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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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include_directories(include include/common include/nlohmann)
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link_directories(src)
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set (
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DEPENDENCY_LIST
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unitree_go
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unitree_api
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rclcpp
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std_msgs
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rosbag2_cpp
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sensor_msgs
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geometry_msgs
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nav_msgs
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tf2
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tf2_geometry_msgs
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tf2_ros
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tf2_sensor_msgs
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)
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(unitree_go REQUIRED)
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find_package(unitree_go REQUIRED)
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find_package(unitree_api REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(rosbag2_cpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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find_package(tf2_geometry_msgs REQUIRED)
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find_package(tf2_ros REQUIRED)
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find_package(tf2_sensor_msgs REQUIRED)
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add_executable(bridge src/bridge.cpp src/common/ros2_sport_client.cpp src/common/motor_crc.cpp)
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ament_target_dependencies(bridge ${DEPENDENCY_LIST})
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install(TARGETS
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bridge
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DESTINATION lib/${PROJECT_NAME})
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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