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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(dynamixel_hardware_interface)
# Default to C99
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 99)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
if($ENV{ROS_DISTRO} STREQUAL "galactic")
add_definitions(-DGALACTIC)
endif()
if($ENV{ROS_DISTRO} STREQUAL "humble")
add_definitions(-DHUMBLE)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(dynamixel_sdk REQUIRED)
find_package(controller_interface REQUIRED)
find_package(diagnostic_updater REQUIRED)
find_package(diagnostic_msgs REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp REQUIRED)
find_package(ros2_control REQUIRED)
find_package(realtime_tools REQUIRED)
find_package(Boost REQUIRED)
add_library(
dynamixel_hardware_interface
SHARED
src/dynamixel_hardware_interface.cpp
src/motor_base.cpp
src/util.cpp
)
target_include_directories(
dynamixel_hardware_interface
PRIVATE
include
${Boost_INCLUDE_DIRS}
)
ament_target_dependencies(
dynamixel_hardware_interface
dynamixel_sdk
hardware_interface
pluginlib
rclcpp
ros2_control
realtime_tools
)
pluginlib_export_plugin_description_file(hardware_interface dynamixel_hardware_interface.xml)
add_library(
dynamixel_diagnostic_controller
SHARED
src/dynamixel_diagnostic_controller.cpp
)
target_include_directories(
dynamixel_diagnostic_controller
PRIVATE
include
${Boost_INCLUDE_DIRS}
)
ament_target_dependencies(
dynamixel_diagnostic_controller
dynamixel_sdk
controller_interface
pluginlib
rclcpp
ros2_control
diagnostic_updater
diagnostic_msgs
realtime_tools
)
pluginlib_export_plugin_description_file(controller_interface dynamixel_diagnostic_controller.xml)
install(
TARGETS dynamixel_hardware_interface dynamixel_diagnostic_controller
DESTINATION lib
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
ament_export_include_directories(
include
)
ament_export_libraries(
dynamixel_hardware_interface
dynamixel_diagnostic_controller
)
ament_export_dependencies(
dynamixel_sdk
controller_interface
hardware_interface
pluginlib
rclcpp
ros2_control
)
install(DIRECTORY config launch
DESTINATION share/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()