52 lines
1.6 KiB
CMake
52 lines
1.6 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(advrobotics_lab3_ros2)
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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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# uncomment the following section in order to fill in
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# further dependencies manually.
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# find_package(<dependency> REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(advrobotics_lab3_interfaces REQUIRED)
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include_directories(
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include
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include/toolkit-dynamixel
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)
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add_executable(ik_server src/ik_server.cpp src/Kinematics.cpp)
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ament_target_dependencies(ik_server rclcpp advrobotics_lab3_interfaces)
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add_executable(ik_client src/ik_client.cpp src/Kinematics.cpp)
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ament_target_dependencies(ik_client rclcpp advrobotics_lab3_interfaces)
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add_executable(poppy_core src/PoppyDriver.cpp src/toolkit-dynamixel/DynamixelHandler.cpp)
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ament_target_dependencies(poppy_core rclcpp advrobotics_lab3_interfaces)
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target_link_libraries(poppy_core dxl_x64_cpp rt)
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install(TARGETS
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ik_server
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ik_client
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poppy_core
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DESTINATION lib/${PROJECT_NAME}
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)
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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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# comment the line when a copyright and license is added to 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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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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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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