104 lines
2.2 KiB
CMake
104 lines
2.2 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(gz_quadruped_hardware)
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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# Default to C11
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if (NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 11)
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endif ()
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# Default to C++17
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if (NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif ()
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# Compiler options
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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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# Find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(ament_index_cpp REQUIRED)
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find_package(controller_manager REQUIRED)
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find_package(hardware_interface REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(yaml_cpp_vendor REQUIRED)
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find_package(gz_sim_vendor REQUIRED)
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find_package(gz-sim REQUIRED)
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find_package(gz_plugin_vendor REQUIRED)
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find_package(gz-plugin REQUIRED)
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include_directories(include)
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add_library(${PROJECT_NAME}-system SHARED
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src/gz_quadruped_plugin.cpp
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)
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target_link_libraries(${PROJECT_NAME}-system
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gz-sim::gz-sim
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gz-plugin::register
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)
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ament_target_dependencies(${PROJECT_NAME}-system
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ament_index_cpp
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controller_manager
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hardware_interface
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pluginlib
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rclcpp
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yaml_cpp_vendor
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rclcpp_lifecycle
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)
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#########
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add_library(gz_quadruped_plugins SHARED
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src/gz_system.cpp
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)
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ament_target_dependencies(gz_quadruped_plugins
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rclcpp_lifecycle
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hardware_interface
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rclcpp
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)
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target_link_libraries(gz_quadruped_plugins
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gz-sim::gz-sim
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)
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## Install
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install(TARGETS
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gz_quadruped_plugins
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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install(DIRECTORY
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include/
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DESTINATION include
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)
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install(
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DIRECTORY xacro
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DESTINATION share/${PROJECT_NAME}/
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)
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# Testing and linting
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if (BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif ()
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ament_export_include_directories(include)
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ament_export_libraries(${PROJECT_NAME}-system gz_quadruped_plugins)
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# Install directories
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install(TARGETS ${PROJECT_NAME}-system
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DESTINATION lib
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)
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pluginlib_export_plugin_description_file(gz_quadruped_hardware gz_quadruped_hardware.xml)
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# Setup the project
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ament_package()
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