update hieplm

robot_geometry_msgs/CMakeLists.txt

@@ -4,6 +4,36 @@ project(robot_geometry_msgs)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+# ========================================================
+# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
+# ========================================================
+
+# Detect if building with Catkin
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building robot_geometry_msgs with Catkin")
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_geometry_msgs with Standalone CMake")
+endif()
+
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  find_package(catkin REQUIRED COMPONENTS robot_std_msgs utils robot_time)
+  ## The catkin_package macro generates cmake config files for your package
+  ## Note: Dependencies (robot_std_msgs, utils, etc.) are not Catkin packages,
+  ## they are built as CMake targets in the same workspace and will be available
+  ## when this package is built. They are linked via target_link_libraries instead of CATKIN_DEPENDS
+  catkin_package(
+    INCLUDE_DIRS include
+    # LIBRARIES không cần vì đây là header-only library
+    # CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
+  )
+endif()
+
 # Thư viện header-only
 add_library(robot_geometry_msgs INTERFACE)
 
@@ -21,13 +51,22 @@ target_link_libraries(robot_geometry_msgs INTERFACE robot_std_msgs utils)
 add_library(geometry_msgs ALIAS robot_geometry_msgs)
 
 # --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
 install(TARGETS robot_geometry_msgs
   EXPORT robot_geometry_msgs-targets
   INCLUDES DESTINATION include # Cài đặt include
 )
 
-# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
-# --- Tạo file lib/cmake/robot_geometry_msgs/robot_costmap_2dTargets.cmake ---
+if(NOT BUILDING_WITH_CATKIN)
+  # Install headers for standalone mode
+  install(DIRECTORY include/
+    DESTINATION include
+    FILES_MATCHING PATTERN "*.h"
+  )
+endif()
+
+# --- Xuất export set robot_geometry_msgs-targets thành file CMake module ---
+# --- Tạo file lib/cmake/robot_geometry_msgs/robot_geometry_msgs-targets.cmake ---
 # --- File này chứa cấu hình giúp project khác có thể dùng ---
 # --- Find_package(robot_geometry_msgs REQUIRED) ---
 # --- Target_link_libraries(my_app PRIVATE robot_geometry_msgs::robot_geometry_msgs) ---

robot_geometry_msgs/package.xml

@@ -19,8 +19,12 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
+  <build_depend>robot_std_msgs</build_depend>
+  <build_depend>utils</build_depend>
+  <build_depend>robot_time</build_depend>
 
-  <run_depend>libconsole-bridge-dev</run_depend>
+  <run_depend>robot_std_msgs</run_depend>
+  <run_depend>utils</run_depend>
+  <run_depend>robot_time</run_depend>
 
 </package>