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Copy pathCMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(suiryoku)
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
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 -fPIC)
endif()
find_package(ament_cmake REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(aruku REQUIRED)
find_package(aruku_interfaces REQUIRED)
find_package(atama_interfaces REQUIRED)
find_package(jitsuyo REQUIRED)
find_package(kansei REQUIRED)
find_package(kansei_interfaces REQUIRED)
find_package(keisan REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(suiryoku_interfaces REQUIRED)
find_package(tachimawari REQUIRED)
find_package(Eigen3 CONFIG REQUIRED)
include_directories(/usr/include/eigen3)
include_directories(${EIGEN3_INCLUDE_DIRS})
add_library(${PROJECT_NAME} SHARED
"src/${PROJECT_NAME}/config/node/config_node.cpp"
"src/${PROJECT_NAME}/locomotion/control/helper/parameter.cpp"
"src/${PROJECT_NAME}/locomotion/control/node/control_node.cpp"
"src/${PROJECT_NAME}/locomotion/model/robot.cpp"
"src/${PROJECT_NAME}/locomotion/node/locomotion_node.cpp"
"src/${PROJECT_NAME}/locomotion/process/locomotion.cpp"
"src/${PROJECT_NAME}/node/suiryoku_node.cpp")
target_include_directories(${PROJECT_NAME} PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
ament_target_dependencies(${PROJECT_NAME}
aruku
aruku_interfaces
atama_interfaces
jitsuyo
kansei
kansei_interfaces
keisan
rclcpp
std_msgs
suiryoku_interfaces
tachimawari)
install(DIRECTORY "include" DESTINATION ".")
install(TARGETS ${PROJECT_NAME}
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION "lib"
LIBRARY DESTINATION "lib"
RUNTIME DESTINATION "bin")
add_executable(config "src/config_main.cpp")
target_include_directories(config PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(config ${PROJECT_NAME})
add_executable(locomotion "src/locomotion_main.cpp")
target_include_directories(locomotion PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(locomotion ${PROJECT_NAME})
add_executable(main "src/suiryoku_main.cpp")
target_include_directories(main PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(main ${PROJECT_NAME})
add_executable(forward_kinematic "src/suiryoku/node/forward_kinematic.cpp")
target_include_directories(forward_kinematic PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(forward_kinematic ${PROJECT_NAME})
add_executable(forward_kinematic_subscriber "src/forward_kinematic_subscriber.cpp")
target_include_directories(forward_kinematic_subscriber PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_link_libraries(forward_kinematic_subscriber ${PROJECT_NAME})
install(TARGETS
config
locomotion
main
forward_kinematic
forward_kinematic_subscriber
DESTINATION lib/${PROJECT_NAME})
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
ament_export_dependencies(
ament_index_cpp
aruku
aruku_interfaces
atama_interfaces
jitsuyo
kansei
kansei_interfaces
keisan
rclcpp
std_msgs
suiryoku_interfaces
tachimawari)
ament_export_include_directories("include")
ament_export_libraries(${PROJECT_NAME})
ament_package()