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CMakeLists.txt
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################################################################################
# Set minimum required version of cmake, project name and compile options
################################################################################
cmake_minimum_required(VERSION 3.5)
project(multibot_robot)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++20
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 20)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
set(CMAKE_AUTOMOC ON)
set(CMAKE_AUTORCC ON)
set(CMAKE_AUTOUIC ON)
set(CMAKE_AUTOUIC_SEARCH_PATHS ${CMAKE_CURRENT_SOURCE_DIR}/ui)
set(CMAKE_INCLUDE_CURRENT_DIR ON)
################################################################################
# Find dependencies
################################################################################
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclpy REQUIRED)
find_package(multibot_ros2_interface REQUIRED)
find_package(multibot_util REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(Qt5 REQUIRED COMPONENTS Core Gui Widgets)
################################################################################
# Build
################################################################################
include_directories(
include
)
# robot
set(ROBOT_DEPENDENCIES
"rclcpp"
"geometry_msgs"
"tf2"
"tf2_ros"
"std_msgs"
"nav_msgs"
"sensor_msgs"
"multibot_ros2_interface"
"multibot_util"
"Qt5"
)
set(PANEL_SOURCES "include/multibot_robot/robot_panel.hpp")
set(ROBOT_EXEC_NAME "robot")
file(GLOB ROBOT_SOURCES "src/*.cpp")
add_executable(${ROBOT_EXEC_NAME} ${ROBOT_SOURCES} ${PANEL_SOURCES})
target_link_libraries(${ROBOT_EXEC_NAME} Qt5::Widgets)
ament_target_dependencies(${ROBOT_EXEC_NAME} ${ROBOT_DEPENDENCIES})
target_include_directories(${ROBOT_EXEC_NAME} PUBLIC
${Qt5Core_INCLUDE_DIRS}
${Qt5Widgets_INCLUDE_DIRS}
${OGRE_INCLUDE_DIRS}
)
################################################################################
# Install
################################################################################
install(TARGETS
${ROBOT_EXEC_NAME}
DESTINATION lib/${PROJECT_NAME}
)
install(DIRECTORY
config
launch
params
robot
rviz
ui
DESTINATION share/${PROJECT_NAME}
)
ament_export_dependencies(ament_cmake)
ament_export_dependencies(Qt5)
################################################################################
# Build test
################################################################################
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
################################################################################
# Find and load build settings from external packages
################################################################################
ament_package()