update for ROS

utils/CMakeLists.txt

@@ -1,62 +1,122 @@
-cmake_minimum_required(VERSION 3.10)
+cmake_minimum_required(VERSION 3.0.2)
+project(utils VERSION 1.0.0 LANGUAGES CXX)
 
-# ========================================================
-# 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)
+# C++ Standard - must be set before find_package
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+if (NOT BUILDING_WITH_CATKIN)
+
+  # Enable Position Independent Code
+  set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+  # Cấu hình RPATH để tránh cycle trong runtime search path
+  set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
+  set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
+  set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
+
+else()
 
 # ========================================================
 # Catkin specific configuration
 # ========================================================
+  find_package(catkin REQUIRED)
 
-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}/include>   # build nội bộ
-        $<INSTALL_INTERFACE:include>                             # dùng khi install/export
-)
-
-# --- Cài đặt header files ---
-if(NOT BUILDING_WITH_CATKIN)
-  install(DIRECTORY include/
-          DESTINATION include
-          FILES_MATCHING PATTERN "*.h"
+  include_directories(
+    include
+    ${catkin_INCLUDE_DIRS}
   )
 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
-)
+# Tìm tất cả header files
+file(GLOB_RECURSE HEADERS "include/*.h")
 
-# --- Export target file ---
-install(EXPORT utils-targets
-        FILE utils-targets.cmake
-        NAMESPACE utils::
-        DESTINATION lib/cmake/utils
-)
+# Tạo INTERFACE library (header-only)
+add_library(${PROJECT_NAME} INTERFACE)
+
+if(BUILDING_WITH_CATKIN)
+  add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+  # Set include directories
+  target_include_directories(${PROJECT_NAME}
+    INTERFACE 
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:include>
+  )
+
+else()
+
+  # Set include directories
+  target_include_directories(${PROJECT_NAME}
+    INTERFACE 
+      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+      $<INSTALL_INTERFACE:include>
+  )
+
+endif()
+
+if(BUILDING_WITH_CATKIN)
+  ## Mark libraries for installation
+  ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+  install(TARGETS ${PROJECT_NAME}
+    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+    RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+  )
+
+  ## Mark cpp header files for installation
+  install(DIRECTORY include/
+    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+    FILES_MATCHING PATTERN "*.h"
+    PATTERN ".svn" EXCLUDE
+  )
+
+else()
+
+  install(TARGETS ${PROJECT_NAME}
+    EXPORT ${PROJECT_NAME}-targets
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+  )
+
+  # Export targets
+  install(EXPORT ${PROJECT_NAME}-targets
+    FILE ${PROJECT_NAME}-targets.cmake
+    NAMESPACE ${PROJECT_NAME}::
+    DESTINATION lib/cmake/${PROJECT_NAME}
+  )
+
+  ## Mark cpp header files for installation
+  install(DIRECTORY include/
+    DESTINATION include
+    FILES_MATCHING PATTERN "*.h"
+    PATTERN ".svn" EXCLUDE
+  )
+
+  # Print configuration info
+  message(STATUS "=================================")
+  message(STATUS "Project: ${PROJECT_NAME} (Header-Only)")
+  message(STATUS "Version: ${PROJECT_VERSION}")
+  message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
+  message(STATUS "Headers found:")
+  foreach(hdr ${HEADERS})
+    message(STATUS "  - ${hdr}")
+  endforeach()
+  message(STATUS "=================================")
+endif()