update hieplm

utils/CMakeLists.txt

@@ -1,27 +1,57 @@
 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 utils with Catkin")
+  find_package(catkin REQUIRED)
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building utils with Standalone CMake")
+endif()
+
 # --- Project riêng cho utils ---
 project(utils LANGUAGES CXX)
 
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  ## The catkin_package macro generates cmake config files for your package
+  catkin_package(
+    INCLUDE_DIRS include
+    # LIBRARIES không cần vì đây là header-only library
+  )
+endif()
+
 # --- Tạo INTERFACE library (header-only) ---
 add_library(utils INTERFACE)
 
 # --- Include directories ---
 target_include_directories(utils
     INTERFACE
-        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}>   # build nội bộ
-        $<INSTALL_INTERFACE:include/utils>             # dùng khi install/export
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>   # build nội bộ
+        $<INSTALL_INTERFACE:include>                             # dùng khi install/export
 )
 
 # --- Cài đặt header files ---
-install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/
-        DESTINATION include/utils
-        FILES_MATCHING PATTERN "*.h"
-)
+if(NOT BUILDING_WITH_CATKIN)
+  install(DIRECTORY include/
+          DESTINATION include
+          FILES_MATCHING PATTERN "*.h"
+  )
+endif()
 
 # --- Cài đặt target INTERFACE để export ---
+# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
 install(TARGETS utils
         EXPORT utils-targets
+        INCLUDES DESTINATION include
 )
 
 # --- Export target file ---

utils/package.xml

@@ -19,8 +19,4 @@
     
   <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>