update hieplm

robot_visualization_msgs/CMakeLists.txt

@@ -1,9 +1,40 @@
 cmake_minimum_required(VERSION 3.10)
+
+# ========================================================
+# 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_visualization_msgs with Catkin")
+  find_package(catkin REQUIRED)
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building robot_visualization_msgs with Standalone CMake")
+endif()
+
 project(robot_visualization_msgs)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  ## The catkin_package macro generates cmake config files for your package
+  ## Note: Dependencies (robot_std_msgs) is not a Catkin package,
+  ## it is built as a CMake target in the same workspace and will be available
+  ## when this package is built. It is 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_visualization_msgs INTERFACE)
 
@@ -14,17 +45,37 @@ target_include_directories(robot_visualization_msgs
         $<INSTALL_INTERFACE:include>
 )
 
+# Add include directories from dependencies explicitly for Catkin build
+if(BUILDING_WITH_CATKIN)
+  # Use relative paths from current source directory
+  # From robot_visualization_msgs (pnkx_nav_core/src/Libraries/common_msgs/robot_visualization_msgs) 
+  # to robot_std_msgs (pnkx_nav_core/src/Libraries/common_msgs/robot_std_msgs) is ../robot_std_msgs
+  get_filename_component(ROBOT_STD_MSGS_INCLUDE "${CMAKE_CURRENT_SOURCE_DIR}/../robot_std_msgs/include" ABSOLUTE)
+  target_include_directories(robot_visualization_msgs INTERFACE
+    $<BUILD_INTERFACE:${ROBOT_STD_MSGS_INCLUDE}>
+  )
+endif()
+
 # Liên kết với robot_std_msgs nếu bạn có file Header.h trong include/robot_std_msgs/
 target_link_libraries(robot_visualization_msgs INTERFACE robot_std_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_visualization_msgs
   EXPORT robot_visualization_msgs-targets
   INCLUDES DESTINATION include # Cài đặt include
 )
 
-# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
-# --- Tạo file lib/cmake/robot_visualization_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_visualization_msgs-targets thành file CMake module ---
+# --- Tạo file lib/cmake/robot_visualization_msgs/robot_visualization_msgs-targets.cmake ---
 # --- File này chứa cấu hình giúp project khác có thể dùng ---
 # --- Find_package(robot_visualization_msgs REQUIRED) ---
 # --- Target_link_libraries(my_app PRIVATE robot_visualization_msgs::robot_visualization_msgs) ---

robot_visualization_msgs/package.xml

@@ -19,8 +19,5 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
-
-  <run_depend>libconsole-bridge-dev</run_depend>
 
 </package>