update for ROS
This commit is contained in:
parent
1df5ed676f
commit
b8b0528f1e
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@ -1,81 +1,155 @@
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cmake_minimum_required(VERSION 3.10)
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cmake_minimum_required(VERSION 3.0.2)
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project(robot_geometry_msgs)
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project(robot_geometry_msgs VERSION 1.0.0 LANGUAGES CXX)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# ========================================================
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# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
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# ========================================================
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# Detect if building with Catkin
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if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
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if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
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set(BUILDING_WITH_CATKIN TRUE)
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set(BUILDING_WITH_CATKIN TRUE)
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message(STATUS "Building robot_geometry_msgs with Catkin")
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message(STATUS "Building robot_geometry_msgs with Catkin")
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else()
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else()
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set(BUILDING_WITH_CATKIN FALSE)
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set(BUILDING_WITH_CATKIN FALSE)
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message(STATUS "Building robot_geometry_msgs with Standalone CMake")
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message(STATUS "Building robot_geometry_msgs with Standalone CMake")
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endif()
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endif()
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# C++ Standard - must be set before find_package
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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if (NOT BUILDING_WITH_CATKIN)
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# Enable Position Independent Code
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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# Cấu hình RPATH để tránh cycle trong runtime search path
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set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
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set(PACKAGES_DIR
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robot_std_msgs
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utils
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robot_time
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)
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else()
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# ========================================================
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# ========================================================
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# Catkin specific configuration
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# Catkin specific configuration
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# ========================================================
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# ========================================================
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find_package(catkin REQUIRED COMPONENTS
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robot_std_msgs
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utils
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robot_time
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)
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if(BUILDING_WITH_CATKIN)
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find_package(catkin REQUIRED COMPONENTS robot_std_msgs utils robot_time)
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## The catkin_package macro generates cmake config files for your package
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## Note: Dependencies (robot_std_msgs, utils, etc.) are not Catkin packages,
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## they are built as CMake targets in the same workspace and will be available
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## when this package is built. They are linked via target_link_libraries instead of CATKIN_DEPENDS
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catkin_package(
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catkin_package(
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INCLUDE_DIRS include
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INCLUDE_DIRS include
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# LIBRARIES không cần vì đây là header-only library
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# LIBRARIES không cần vì đây là header-only library
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# CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
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CATKIN_DEPENDS robot_std_msgs utils robot_time
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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)
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endif()
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endif()
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# Thư viện header-only
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# Tìm tất cả header files
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add_library(robot_geometry_msgs INTERFACE)
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file(GLOB_RECURSE HEADERS "include/robot_geometry_msgs/*.h")
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# Include path tới thư mục chứa file header
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# Tạo INTERFACE library (header-only)
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target_include_directories(robot_geometry_msgs
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add_library(${PROJECT_NAME} INTERFACE)
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if(BUILDING_WITH_CATKIN)
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add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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# Set include directories
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target_include_directories(${PROJECT_NAME}
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INTERFACE
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INTERFACE
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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$<INSTALL_INTERFACE:include>
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)
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)
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# Liên kết với robot_std_msgs nếu bạn có file Header.h trong include/robot_std_msgs/
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# Link dependencies (header-only, chỉ cần include paths)
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target_link_libraries(robot_geometry_msgs INTERFACE robot_std_msgs utils)
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target_link_libraries(${PROJECT_NAME}
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INTERFACE
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${catkin_LIBRARIES}
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)
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else()
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# Set include directories
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target_include_directories(${PROJECT_NAME}
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INTERFACE
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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# Link dependencies (header-only, chỉ cần include paths)
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target_link_libraries(${PROJECT_NAME}
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INTERFACE
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${PACKAGES_DIR}
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)
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endif()
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# Create alias for backward compatibility
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# Create alias for backward compatibility
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add_library(geometry_msgs ALIAS robot_geometry_msgs)
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add_library(geometry_msgs ALIAS ${PROJECT_NAME})
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# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
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if(BUILDING_WITH_CATKIN)
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# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
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## Mark libraries for installation
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install(TARGETS robot_geometry_msgs
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
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EXPORT robot_geometry_msgs-targets
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install(TARGETS ${PROJECT_NAME}
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INCLUDES DESTINATION include # Cài đặt include
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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)
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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if(NOT BUILDING_WITH_CATKIN)
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## Mark cpp header files for installation
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# Install headers for standalone mode
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install(DIRECTORY include/${PROJECT_NAME}/
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install(DIRECTORY include/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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PATTERN ".svn" EXCLUDE
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)
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else()
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install(TARGETS ${PROJECT_NAME}
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EXPORT ${PROJECT_NAME}-targets
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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# Export targets
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install(EXPORT ${PROJECT_NAME}-targets
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FILE ${PROJECT_NAME}-targets.cmake
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NAMESPACE ${PROJECT_NAME}::
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DESTINATION lib/cmake/${PROJECT_NAME}
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)
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION include
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DESTINATION include
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FILES_MATCHING PATTERN "*.h"
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FILES_MATCHING PATTERN "*.h"
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PATTERN ".svn" EXCLUDE
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)
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)
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# Print configuration info
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message(STATUS "=================================")
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message(STATUS "Project: ${PROJECT_NAME} (Header-Only)")
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message(STATUS "Version: ${PROJECT_VERSION}")
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message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
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message(STATUS "Headers found:")
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foreach(hdr ${HEADERS})
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message(STATUS " - ${hdr}")
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endforeach()
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message(STATUS "Dependencies: robot_std_msgs, utils, robot_time")
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message(STATUS "=================================")
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endif()
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endif()
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# --- Xuất export set robot_geometry_msgs-targets thành file CMake module ---
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# ========================================================
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# --- Tạo file lib/cmake/robot_geometry_msgs/robot_geometry_msgs-targets.cmake ---
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# Test executable
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# --- File này chứa cấu hình giúp project khác có thể dùng ---
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# ========================================================
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# --- Find_package(robot_geometry_msgs REQUIRED) ---
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add_executable(${PROJECT_NAME}_test test/main.cpp)
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# --- Target_link_libraries(my_app PRIVATE robot_geometry_msgs::robot_geometry_msgs) ---
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target_link_libraries(${PROJECT_NAME}_test PRIVATE ${PROJECT_NAME})
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install(EXPORT robot_geometry_msgs-targets
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FILE robot_geometry_msgs-targets.cmake
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NAMESPACE robot_geometry_msgs::
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DESTINATION lib/cmake/robot_geometry_msgs
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)
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add_executable(test_geometry test/main.cpp)
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target_link_libraries(test_geometry PRIVATE robot_geometry_msgs)
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@ -1,65 +1,142 @@
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cmake_minimum_required(VERSION 3.10)
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cmake_minimum_required(VERSION 3.0.2)
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project(robot_map_msgs)
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project(robot_map_msgs VERSION 1.0.0 LANGUAGES CXX)
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# ========================================================
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# Catkin specific configuration
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# ========================================================
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if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
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if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
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set(BUILDING_WITH_CATKIN TRUE)
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set(BUILDING_WITH_CATKIN TRUE)
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message(STATUS "Building robot_map_msgs with Catkin")
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message(STATUS "Building robot_map_msgs with Catkin")
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else()
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else()
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set(BUILDING_WITH_CATKIN FALSE)
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set(BUILDING_WITH_CATKIN FALSE)
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message(STATUS "Building robot_map_msgs with Standalone CMake")
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message(STATUS "Building robot_map_msgs with Standalone CMake")
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endif()
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endif()
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if(BUILDING_WITH_CATKIN)
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# C++ Standard - must be set before find_package
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find_package(catkin REQUIRED COMPONENTS robot_std_msgs)
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set(CMAKE_CXX_STANDARD 17)
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## The catkin_package macro generates cmake config files for your package
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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if (NOT BUILDING_WITH_CATKIN)
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# Enable Position Independent Code
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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# Cấu hình RPATH để tránh cycle trong runtime search path
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set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
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set(PACKAGES_DIR
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robot_std_msgs
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)
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else()
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# ========================================================
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# Catkin specific configuration
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# ========================================================
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find_package(catkin REQUIRED COMPONENTS
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robot_std_msgs
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)
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catkin_package(
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catkin_package(
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INCLUDE_DIRS include
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INCLUDE_DIRS include
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# LIBRARIES không cần vì đây là header-only library
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# LIBRARIES không cần vì đây là header-only library
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CATKIN_DEPENDS robot_std_msgs
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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)
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endif()
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endif()
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# Thư viện header-only
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# Tìm tất cả header files
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add_library(robot_map_msgs INTERFACE)
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file(GLOB_RECURSE HEADERS "include/robot_map_msgs/*.h")
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# Include path tới thư mục chứa file header
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# Tạo INTERFACE library (header-only)
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target_include_directories(robot_map_msgs
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add_library(${PROJECT_NAME} INTERFACE)
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if(BUILDING_WITH_CATKIN)
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add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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# Set include directories
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target_include_directories(${PROJECT_NAME}
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INTERFACE
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INTERFACE
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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$<INSTALL_INTERFACE:include>
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)
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)
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# Liên kết với robot_std_msgs nếu bạn có file Header.h trong include/robot_std_msgs/
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# Link dependencies (header-only, chỉ cần include paths)
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target_link_libraries(robot_map_msgs INTERFACE robot_std_msgs)
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target_link_libraries(${PROJECT_NAME}
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INTERFACE
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${catkin_LIBRARIES}
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)
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# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
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else()
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# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
|
|
||||||
install(TARGETS robot_map_msgs
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EXPORT robot_map_msgs-targets
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INCLUDES DESTINATION include # Cài đặt include
|
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||||||
)
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||||||
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if(NOT BUILDING_WITH_CATKIN)
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# Set include directories
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||||||
# Install headers for standalone mode
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target_include_directories(${PROJECT_NAME}
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install(DIRECTORY include/
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INTERFACE
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||||||
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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||||||
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$<INSTALL_INTERFACE:include>
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)
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# Link dependencies (header-only, chỉ cần include paths)
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||||||
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target_link_libraries(${PROJECT_NAME}
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INTERFACE
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||||||
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${PACKAGES_DIR}
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)
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||||||
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endif()
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||||||
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||||||
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if(BUILDING_WITH_CATKIN)
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## Mark libraries for installation
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||||||
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
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||||||
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install(TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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||||||
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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||||||
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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||||||
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)
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||||||
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||||||
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## Mark cpp header files for installation
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||||||
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install(DIRECTORY include/${PROJECT_NAME}/
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||||||
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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||||||
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FILES_MATCHING PATTERN "*.h"
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||||||
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PATTERN ".svn" EXCLUDE
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||||||
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)
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||||||
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||||||
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else()
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||||||
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install(TARGETS ${PROJECT_NAME}
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EXPORT ${PROJECT_NAME}-targets
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||||||
|
ARCHIVE DESTINATION lib
|
||||||
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LIBRARY DESTINATION lib
|
||||||
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RUNTIME DESTINATION bin
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||||||
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)
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||||||
|
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||||||
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# Export targets
|
||||||
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install(EXPORT ${PROJECT_NAME}-targets
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||||||
|
FILE ${PROJECT_NAME}-targets.cmake
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||||||
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NAMESPACE ${PROJECT_NAME}::
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||||||
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DESTINATION lib/cmake/${PROJECT_NAME}
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||||||
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)
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||||||
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|
||||||
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## Mark cpp header files for installation
|
||||||
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install(DIRECTORY include/${PROJECT_NAME}/
|
||||||
DESTINATION include
|
DESTINATION include
|
||||||
FILES_MATCHING PATTERN "*.h"
|
FILES_MATCHING PATTERN "*.h"
|
||||||
|
PATTERN ".svn" EXCLUDE
|
||||||
)
|
)
|
||||||
endif()
|
|
||||||
|
|
||||||
# --- Xuất export set robot_map_msgs-targets thành file CMake module ---
|
# Print configuration info
|
||||||
# --- Tạo file lib/cmake/robot_map_msgs/robot_map_msgs-targets.cmake ---
|
message(STATUS "=================================")
|
||||||
# --- File này chứa cấu hình giúp project khác có thể dùng ---
|
message(STATUS "Project: ${PROJECT_NAME} (Header-Only)")
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||||||
# --- Find_package(robot_map_msgs REQUIRED) ---
|
message(STATUS "Version: ${PROJECT_VERSION}")
|
||||||
# --- Target_link_libraries(my_app PRIVATE robot_map_msgs::robot_map_msgs) ---
|
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
|
||||||
install(EXPORT robot_map_msgs-targets
|
message(STATUS "Headers found:")
|
||||||
FILE robot_map_msgs-targets.cmake
|
foreach(hdr ${HEADERS})
|
||||||
NAMESPACE robot_map_msgs::
|
message(STATUS " - ${hdr}")
|
||||||
DESTINATION lib/cmake/robot_map_msgs
|
endforeach()
|
||||||
)
|
message(STATUS "Dependencies: robot_std_msgs")
|
||||||
|
message(STATUS "=================================")
|
||||||
|
endif()
|
||||||
|
|
|
||||||
|
|
@ -1,76 +1,152 @@
|
||||||
cmake_minimum_required(VERSION 3.10)
|
cmake_minimum_required(VERSION 3.0.2)
|
||||||
project(robot_nav_msgs)
|
project(robot_nav_msgs VERSION 1.0.0 LANGUAGES CXX)
|
||||||
|
|
||||||
set(CMAKE_CXX_STANDARD 17)
|
|
||||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
|
||||||
|
|
||||||
# ========================================================
|
|
||||||
# Catkin specific configuration
|
|
||||||
# ========================================================
|
|
||||||
|
|
||||||
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
|
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
|
||||||
set(BUILDING_WITH_CATKIN TRUE)
|
set(BUILDING_WITH_CATKIN TRUE)
|
||||||
message(STATUS "Building robot_nav_msgs with Catkin")
|
message(STATUS "Building robot_nav_msgs with Catkin")
|
||||||
|
|
||||||
else()
|
else()
|
||||||
set(BUILDING_WITH_CATKIN FALSE)
|
set(BUILDING_WITH_CATKIN FALSE)
|
||||||
message(STATUS "Building robot_nav_msgs with Standalone CMake")
|
message(STATUS "Building robot_nav_msgs with Standalone CMake")
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
if(BUILDING_WITH_CATKIN)
|
# C++ Standard - must be set before find_package
|
||||||
find_package(catkin REQUIRED COMPONENTS robot_std_msgs robot_geometry_msgs)
|
set(CMAKE_CXX_STANDARD 17)
|
||||||
## The catkin_package macro generates cmake config files for your package
|
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||||
## Note: Dependencies (robot_std_msgs, robot_geometry_msgs, etc.) are not Catkin packages,
|
set(CMAKE_CXX_EXTENSIONS OFF)
|
||||||
## 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
|
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}")
|
||||||
|
|
||||||
|
set(PACKAGES_DIR
|
||||||
|
robot_std_msgs
|
||||||
|
robot_geometry_msgs
|
||||||
|
)
|
||||||
|
|
||||||
|
else()
|
||||||
|
|
||||||
|
# ========================================================
|
||||||
|
# Catkin specific configuration
|
||||||
|
# ========================================================
|
||||||
|
find_package(catkin REQUIRED COMPONENTS
|
||||||
|
robot_std_msgs
|
||||||
|
robot_geometry_msgs
|
||||||
|
)
|
||||||
|
|
||||||
catkin_package(
|
catkin_package(
|
||||||
INCLUDE_DIRS include
|
INCLUDE_DIRS include
|
||||||
# LIBRARIES không cần vì đây là header-only library
|
# LIBRARIES không cần vì đây là header-only library
|
||||||
# CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
|
CATKIN_DEPENDS robot_std_msgs robot_geometry_msgs
|
||||||
|
)
|
||||||
|
|
||||||
|
include_directories(
|
||||||
|
include
|
||||||
|
${catkin_INCLUDE_DIRS}
|
||||||
)
|
)
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
# Thư viện header-only
|
# Tìm tất cả header files
|
||||||
add_library(robot_nav_msgs INTERFACE)
|
file(GLOB_RECURSE HEADERS "include/robot_nav_msgs/*.h")
|
||||||
|
|
||||||
# Include path tới thư mục chứa file header
|
# Tạo INTERFACE library (header-only)
|
||||||
target_include_directories(robot_nav_msgs
|
add_library(${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
|
INTERFACE
|
||||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||||
$<INSTALL_INTERFACE:include>
|
$<INSTALL_INTERFACE:include>
|
||||||
)
|
)
|
||||||
|
|
||||||
# Liên kết với robot_std_msgs nếu bạn có file Header.h trong include/robot_std_msgs/
|
# Link dependencies (header-only, chỉ cần include paths)
|
||||||
target_link_libraries(robot_nav_msgs INTERFACE
|
target_link_libraries(${PROJECT_NAME}
|
||||||
robot_std_msgs
|
INTERFACE
|
||||||
robot_nav_msgs
|
${catkin_LIBRARIES}
|
||||||
geometry_msgs
|
)
|
||||||
)
|
|
||||||
|
|
||||||
# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
|
else()
|
||||||
# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
|
|
||||||
install(TARGETS robot_nav_msgs
|
|
||||||
EXPORT robot_nav_msgs-targets
|
|
||||||
INCLUDES DESTINATION include # Cài đặt include
|
|
||||||
)
|
|
||||||
|
|
||||||
if(NOT BUILDING_WITH_CATKIN)
|
# Set include directories
|
||||||
# Install headers for standalone mode
|
target_include_directories(${PROJECT_NAME}
|
||||||
install(DIRECTORY include/
|
INTERFACE
|
||||||
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||||
|
$<INSTALL_INTERFACE:include>
|
||||||
|
)
|
||||||
|
|
||||||
|
# Link dependencies (header-only, chỉ cần include paths)
|
||||||
|
target_link_libraries(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
${PACKAGES_DIR}
|
||||||
|
)
|
||||||
|
|
||||||
|
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 ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||||
|
)
|
||||||
|
|
||||||
|
## Mark cpp header files for installation
|
||||||
|
install(DIRECTORY include/${PROJECT_NAME}/
|
||||||
|
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/${PROJECT_NAME}/
|
||||||
DESTINATION include
|
DESTINATION include
|
||||||
FILES_MATCHING PATTERN "*.h"
|
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 "Dependencies: robot_std_msgs, robot_geometry_msgs")
|
||||||
|
message(STATUS "=================================")
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
# --- Xuất export set robot_nav_msgs-targets thành file CMake module ---
|
# ========================================================
|
||||||
# --- Tạo file lib/cmake/robot_nav_msgs/robot_nav_msgs-targets.cmake ---
|
# Test executables
|
||||||
# --- File này chứa cấu hình giúp project khác có thể dùng ---
|
# ========================================================
|
||||||
# --- Find_package(robot_nav_msgs REQUIRED) ---
|
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/main.cpp)
|
||||||
# --- Target_link_libraries(my_app PRIVATE robot_nav_msgs::robot_nav_msgs) ---
|
add_executable(${PROJECT_NAME}_test test/main.cpp)
|
||||||
install(EXPORT robot_nav_msgs-targets
|
target_link_libraries(${PROJECT_NAME}_test PRIVATE ${PROJECT_NAME})
|
||||||
FILE robot_nav_msgs-targets.cmake
|
endif()
|
||||||
NAMESPACE robot_nav_msgs::
|
|
||||||
DESTINATION lib/cmake/robot_nav_msgs
|
|
||||||
)
|
|
||||||
|
|
||||||
add_executable(test_nav test/main.cpp)
|
|
||||||
target_link_libraries(test_nav PRIVATE robot_nav_msgs)
|
|
||||||
|
|
|
||||||
|
|
@ -1,12 +1,6 @@
|
||||||
cmake_minimum_required(VERSION 3.10)
|
cmake_minimum_required(VERSION 3.0.2)
|
||||||
project(robot_protocol_msgs)
|
project(robot_protocol_msgs VERSION 1.0.0 LANGUAGES CXX)
|
||||||
|
|
||||||
set(CMAKE_CXX_STANDARD 17)
|
|
||||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
|
||||||
|
|
||||||
# ========================================================
|
|
||||||
# Catkin specific configuration
|
|
||||||
# ========================================================
|
|
||||||
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
|
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
|
||||||
set(BUILDING_WITH_CATKIN TRUE)
|
set(BUILDING_WITH_CATKIN TRUE)
|
||||||
message(STATUS "Building robot_protocol_msgs with Catkin")
|
message(STATUS "Building robot_protocol_msgs with Catkin")
|
||||||
|
|
@ -16,68 +10,151 @@ else()
|
||||||
message(STATUS "Building robot_protocol_msgs with Standalone CMake")
|
message(STATUS "Building robot_protocol_msgs with Standalone CMake")
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
if(BUILDING_WITH_CATKIN)
|
# C++ Standard - must be set before find_package
|
||||||
find_package(catkin REQUIRED COMPONENTS robot_std_msgs robot_geometry_msgs)
|
set(CMAKE_CXX_STANDARD 17)
|
||||||
## The catkin_package macro generates cmake config files for your package
|
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}")
|
||||||
|
|
||||||
|
set(PACKAGES_DIR
|
||||||
|
robot_std_msgs
|
||||||
|
robot_geometry_msgs
|
||||||
|
)
|
||||||
|
|
||||||
|
else()
|
||||||
|
|
||||||
|
# ========================================================
|
||||||
|
# Catkin specific configuration
|
||||||
|
# ========================================================
|
||||||
|
find_package(catkin REQUIRED COMPONENTS
|
||||||
|
robot_std_msgs
|
||||||
|
robot_geometry_msgs
|
||||||
|
)
|
||||||
|
|
||||||
catkin_package(
|
catkin_package(
|
||||||
INCLUDE_DIRS include
|
INCLUDE_DIRS include
|
||||||
LIBRARIES robot_protocol_msgs
|
# LIBRARIES không cần vì đây là header-only library
|
||||||
CATKIN_DEPENDS robot_std_msgs robot_geometry_msgs
|
CATKIN_DEPENDS robot_std_msgs robot_geometry_msgs
|
||||||
)
|
)
|
||||||
endif()
|
|
||||||
|
|
||||||
# Thư viện header-only
|
include_directories(
|
||||||
add_library(robot_protocol_msgs INTERFACE)
|
include
|
||||||
|
${catkin_INCLUDE_DIRS}
|
||||||
# Include path tới thư mục chứa file header
|
|
||||||
target_include_directories(robot_protocol_msgs
|
|
||||||
INTERFACE
|
|
||||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
|
||||||
$<INSTALL_INTERFACE:include>
|
|
||||||
)
|
|
||||||
|
|
||||||
# Liên kết với robot_std_msgs nếu bạn có file Header.h trong include/robot_std_msgs/
|
|
||||||
target_link_libraries(robot_protocol_msgs INTERFACE)
|
|
||||||
|
|
||||||
# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
|
|
||||||
# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
|
|
||||||
install(TARGETS robot_protocol_msgs
|
|
||||||
EXPORT robot_protocol_msgs-targets
|
|
||||||
INCLUDES DESTINATION include # Cài đặt include
|
|
||||||
)
|
|
||||||
|
|
||||||
if(NOT BUILDING_WITH_CATKIN)
|
|
||||||
# Install headers for standalone mode
|
|
||||||
install(DIRECTORY include/
|
|
||||||
DESTINATION include
|
|
||||||
FILES_MATCHING PATTERN "*.h"
|
|
||||||
)
|
)
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
# --- Xuất export set robot_protocol_msgs-targets thành file CMake module ---
|
# Tìm tất cả header files
|
||||||
# --- Tạo file lib/cmake/robot_protocol_msgs/robot_protocol_msgs-targets.cmake ---
|
file(GLOB_RECURSE HEADERS "include/robot_protocol_msgs/*.h")
|
||||||
# --- File này chứa cấu hình giúp project khác có thể dùng ---
|
|
||||||
# --- Find_package(robot_protocol_msgs REQUIRED) ---
|
|
||||||
# --- Target_link_libraries(my_app PRIVATE robot_protocol_msgs::robot_protocol_msgs) ---
|
|
||||||
install(EXPORT robot_protocol_msgs-targets
|
|
||||||
FILE robot_protocol_msgs-targets.cmake
|
|
||||||
# NAMESPACE robot_protocol_msgs::
|
|
||||||
DESTINATION lib/cmake/robot_protocol_msgs
|
|
||||||
)
|
|
||||||
|
|
||||||
# ========================================================
|
# Tạo INTERFACE library (header-only)
|
||||||
# Install CMake Config File for find_package()
|
add_library(${PROJECT_NAME} INTERFACE)
|
||||||
# ========================================================
|
|
||||||
# Generate config file from template
|
|
||||||
configure_file(
|
|
||||||
${CMAKE_CURRENT_SOURCE_DIR}/robot_protocol_msgsConfig.cmake.in
|
|
||||||
${CMAKE_CURRENT_BINARY_DIR}/robot_protocol_msgsConfig.cmake
|
|
||||||
@ONLY
|
|
||||||
)
|
|
||||||
|
|
||||||
# Install config file
|
if(BUILDING_WITH_CATKIN)
|
||||||
install(FILES
|
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
${CMAKE_CURRENT_BINARY_DIR}/robot_protocol_msgsConfig.cmake
|
|
||||||
DESTINATION lib/cmake/robot_protocol_msgs
|
|
||||||
)
|
|
||||||
|
|
||||||
|
# Set include directories
|
||||||
|
target_include_directories(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||||
|
$<INSTALL_INTERFACE:include>
|
||||||
|
)
|
||||||
|
|
||||||
|
# Link dependencies (header-only, chỉ cần include paths)
|
||||||
|
target_link_libraries(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
${catkin_LIBRARIES}
|
||||||
|
)
|
||||||
|
|
||||||
|
else()
|
||||||
|
|
||||||
|
# Set include directories
|
||||||
|
target_include_directories(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||||
|
$<INSTALL_INTERFACE:include>
|
||||||
|
)
|
||||||
|
|
||||||
|
# Link dependencies (header-only, chỉ cần include paths)
|
||||||
|
target_link_libraries(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
${PACKAGES_DIR}
|
||||||
|
)
|
||||||
|
|
||||||
|
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 ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||||
|
)
|
||||||
|
|
||||||
|
## Mark cpp header files for installation
|
||||||
|
install(DIRECTORY include/${PROJECT_NAME}/
|
||||||
|
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/${PROJECT_NAME}/
|
||||||
|
DESTINATION include
|
||||||
|
FILES_MATCHING PATTERN "*.h"
|
||||||
|
PATTERN ".svn" EXCLUDE
|
||||||
|
)
|
||||||
|
|
||||||
|
# ========================================================
|
||||||
|
# Install CMake Config File for find_package() (Standalone only)
|
||||||
|
# ========================================================
|
||||||
|
# Generate config file from template
|
||||||
|
configure_file(
|
||||||
|
${CMAKE_CURRENT_SOURCE_DIR}/${PROJECT_NAME}Config.cmake.in
|
||||||
|
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
|
||||||
|
@ONLY
|
||||||
|
)
|
||||||
|
|
||||||
|
# Install config file
|
||||||
|
install(FILES
|
||||||
|
${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}Config.cmake
|
||||||
|
DESTINATION lib/cmake/${PROJECT_NAME}
|
||||||
|
)
|
||||||
|
|
||||||
|
# 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 "Dependencies: robot_std_msgs, robot_geometry_msgs")
|
||||||
|
message(STATUS "=================================")
|
||||||
|
endif()
|
||||||
|
|
|
||||||
|
|
@ -1,70 +1,152 @@
|
||||||
cmake_minimum_required(VERSION 3.10)
|
cmake_minimum_required(VERSION 3.0.2)
|
||||||
project(robot_sensor_msgs)
|
project(robot_sensor_msgs VERSION 1.0.0 LANGUAGES CXX)
|
||||||
|
|
||||||
set(CMAKE_CXX_STANDARD 17)
|
|
||||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
|
||||||
|
|
||||||
# ========================================================
|
|
||||||
# Catkin specific configuration
|
|
||||||
# ========================================================
|
|
||||||
|
|
||||||
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
|
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
|
||||||
set(BUILDING_WITH_CATKIN TRUE)
|
set(BUILDING_WITH_CATKIN TRUE)
|
||||||
message(STATUS "Building robot_sensor_msgs with Catkin")
|
message(STATUS "Building robot_sensor_msgs with Catkin")
|
||||||
|
|
||||||
else()
|
else()
|
||||||
set(BUILDING_WITH_CATKIN FALSE)
|
set(BUILDING_WITH_CATKIN FALSE)
|
||||||
message(STATUS "Building robot_sensor_msgs with Standalone CMake")
|
message(STATUS "Building robot_sensor_msgs with Standalone CMake")
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
if(BUILDING_WITH_CATKIN)
|
# C++ Standard - must be set before find_package
|
||||||
find_package(catkin REQUIRED COMPONENTS robot_std_msgs robot_geometry_msgs)
|
set(CMAKE_CXX_STANDARD 17)
|
||||||
## The catkin_package macro generates cmake config files for your package
|
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}")
|
||||||
|
|
||||||
|
set(PACKAGES_DIR
|
||||||
|
robot_std_msgs
|
||||||
|
robot_geometry_msgs
|
||||||
|
)
|
||||||
|
|
||||||
|
else()
|
||||||
|
|
||||||
|
# ========================================================
|
||||||
|
# Catkin specific configuration
|
||||||
|
# ========================================================
|
||||||
|
find_package(catkin REQUIRED COMPONENTS
|
||||||
|
robot_std_msgs
|
||||||
|
robot_geometry_msgs
|
||||||
|
)
|
||||||
|
|
||||||
catkin_package(
|
catkin_package(
|
||||||
INCLUDE_DIRS include
|
INCLUDE_DIRS include
|
||||||
LIBRARIES robot_sensor_msgs
|
# LIBRARIES không cần vì đây là header-only library
|
||||||
CATKIN_DEPENDS robot_std_msgs robot_geometry_msgs
|
CATKIN_DEPENDS robot_std_msgs robot_geometry_msgs
|
||||||
)
|
)
|
||||||
endif()
|
|
||||||
|
|
||||||
# Thư viện header-only
|
include_directories(
|
||||||
add_library(robot_sensor_msgs INTERFACE)
|
include
|
||||||
|
${catkin_INCLUDE_DIRS}
|
||||||
# Include path tới thư mục chứa file header
|
|
||||||
target_include_directories(robot_sensor_msgs
|
|
||||||
INTERFACE
|
|
||||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
|
||||||
$<INSTALL_INTERFACE:include>
|
|
||||||
)
|
|
||||||
|
|
||||||
# Liên kết với robot_std_msgs nếu bạn có file Header.h trong include/robot_std_msgs/
|
|
||||||
target_link_libraries(robot_sensor_msgs INTERFACE robot_std_msgs)
|
|
||||||
|
|
||||||
# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
|
|
||||||
# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
|
|
||||||
install(TARGETS robot_sensor_msgs
|
|
||||||
EXPORT robot_sensor_msgs-targets
|
|
||||||
INCLUDES DESTINATION include # Cài đặt include
|
|
||||||
)
|
|
||||||
|
|
||||||
if(NOT BUILDING_WITH_CATKIN)
|
|
||||||
# Install headers for standalone mode
|
|
||||||
install(DIRECTORY include/
|
|
||||||
DESTINATION include
|
|
||||||
FILES_MATCHING PATTERN "*.h"
|
|
||||||
)
|
)
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
# --- Xuất export set robot_sensor_msgs-targets thành file CMake module ---
|
# Tìm tất cả header files
|
||||||
# --- Tạo file lib/cmake/robot_sensor_msgs/robot_sensor_msgs-targets.cmake ---
|
file(GLOB_RECURSE HEADERS "include/robot_sensor_msgs/*.h")
|
||||||
# --- File này chứa cấu hình giúp project khác có thể dùng ---
|
|
||||||
# --- Find_package(robot_sensor_msgs REQUIRED) ---
|
|
||||||
# --- Target_link_libraries(my_app PRIVATE robot_sensor_msgs::robot_sensor_msgs) ---
|
|
||||||
install(EXPORT robot_sensor_msgs-targets
|
|
||||||
FILE robot_sensor_msgs-targets.cmake
|
|
||||||
NAMESPACE robot_sensor_msgs::
|
|
||||||
DESTINATION lib/cmake/robot_sensor_msgs
|
|
||||||
)
|
|
||||||
|
|
||||||
# Tạo file test ví dụ
|
# Tạo INTERFACE library (header-only)
|
||||||
add_executable(test_battery_state test/main.cpp)
|
add_library(${PROJECT_NAME} INTERFACE)
|
||||||
target_link_libraries(test_battery_state PRIVATE robot_sensor_msgs)
|
|
||||||
|
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>
|
||||||
|
$<INSTALL_INTERFACE:include>
|
||||||
|
)
|
||||||
|
|
||||||
|
# Link dependencies (header-only, chỉ cần include paths)
|
||||||
|
target_link_libraries(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
${catkin_LIBRARIES}
|
||||||
|
)
|
||||||
|
|
||||||
|
else()
|
||||||
|
|
||||||
|
# Set include directories
|
||||||
|
target_include_directories(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||||
|
$<INSTALL_INTERFACE:include>
|
||||||
|
)
|
||||||
|
|
||||||
|
# Link dependencies (header-only, chỉ cần include paths)
|
||||||
|
target_link_libraries(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
${PACKAGES_DIR}
|
||||||
|
)
|
||||||
|
|
||||||
|
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 ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||||
|
)
|
||||||
|
|
||||||
|
## Mark cpp header files for installation
|
||||||
|
install(DIRECTORY include/${PROJECT_NAME}/
|
||||||
|
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/${PROJECT_NAME}/
|
||||||
|
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 "Dependencies: robot_std_msgs, robot_geometry_msgs")
|
||||||
|
message(STATUS "=================================")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
# ========================================================
|
||||||
|
# Test executables
|
||||||
|
# ========================================================
|
||||||
|
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/main.cpp)
|
||||||
|
add_executable(${PROJECT_NAME}_test test/main.cpp)
|
||||||
|
target_link_libraries(${PROJECT_NAME}_test PRIVATE ${PROJECT_NAME})
|
||||||
|
endif()
|
||||||
|
|
|
||||||
|
|
@ -1,66 +1,142 @@
|
||||||
cmake_minimum_required(VERSION 3.10)
|
cmake_minimum_required(VERSION 3.0.2)
|
||||||
project(robot_std_msgs)
|
project(robot_std_msgs VERSION 1.0.0 LANGUAGES CXX)
|
||||||
|
|
||||||
set(CMAKE_CXX_STANDARD 17)
|
|
||||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
|
||||||
|
|
||||||
# ========================================================
|
|
||||||
# Catkin specific configuration
|
|
||||||
# ========================================================
|
|
||||||
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
|
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
|
||||||
set(BUILDING_WITH_CATKIN TRUE)
|
set(BUILDING_WITH_CATKIN TRUE)
|
||||||
message(STATUS "Building robot_std_msgs with Catkin")
|
message(STATUS "Building robot_std_msgs with Catkin")
|
||||||
|
|
||||||
else()
|
else()
|
||||||
set(BUILDING_WITH_CATKIN FALSE)
|
set(BUILDING_WITH_CATKIN FALSE)
|
||||||
message(STATUS "Building robot_std_msgs with Standalone CMake")
|
message(STATUS "Building robot_std_msgs with Standalone CMake")
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
if(BUILDING_WITH_CATKIN)
|
# C++ Standard - must be set before find_package
|
||||||
find_package(catkin REQUIRED COMPONENTS robot_time)
|
set(CMAKE_CXX_STANDARD 17)
|
||||||
|
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||||
|
set(CMAKE_CXX_EXTENSIONS OFF)
|
||||||
|
|
||||||
|
if (NOT BUILDING_WITH_CATKIN)
|
||||||
|
|
||||||
|
# Enable Position Independent Code
|
||||||
|
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
|
||||||
|
|
||||||
|
# Cấu hình RPATH để tránh cycle trong runtime search path
|
||||||
|
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
|
||||||
|
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
|
||||||
|
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
|
||||||
|
|
||||||
|
set(PACKAGES_DIR
|
||||||
|
robot_time
|
||||||
|
)
|
||||||
|
|
||||||
|
else()
|
||||||
|
|
||||||
|
# ========================================================
|
||||||
|
# Catkin specific configuration
|
||||||
|
# ========================================================
|
||||||
|
find_package(catkin REQUIRED COMPONENTS
|
||||||
|
robot_time
|
||||||
|
)
|
||||||
|
|
||||||
## The catkin_package macro generates cmake config files for your package
|
|
||||||
## Note: Dependencies (robot_time, 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(
|
catkin_package(
|
||||||
INCLUDE_DIRS include
|
INCLUDE_DIRS include
|
||||||
LIBRARIES robot_std_msgs
|
# LIBRARIES không cần vì đây là header-only library
|
||||||
CATKIN_DEPENDS robot_time
|
CATKIN_DEPENDS robot_time
|
||||||
)
|
)
|
||||||
endif()
|
|
||||||
|
|
||||||
add_library(robot_std_msgs INTERFACE)
|
include_directories(
|
||||||
|
include
|
||||||
target_include_directories(robot_std_msgs
|
${catkin_INCLUDE_DIRS}
|
||||||
INTERFACE
|
|
||||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
|
||||||
$<INSTALL_INTERFACE:include>
|
|
||||||
)
|
|
||||||
|
|
||||||
target_link_libraries(robot_std_msgs INTERFACE robot_time)
|
|
||||||
|
|
||||||
# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
|
|
||||||
# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
|
|
||||||
install(TARGETS robot_std_msgs
|
|
||||||
EXPORT robot_std_msgs-targets
|
|
||||||
INCLUDES DESTINATION include # Cài đặt include
|
|
||||||
)
|
|
||||||
|
|
||||||
if(NOT BUILDING_WITH_CATKIN)
|
|
||||||
# Install headers for standalone mode
|
|
||||||
install(DIRECTORY include/
|
|
||||||
DESTINATION include
|
|
||||||
FILES_MATCHING PATTERN "*.h"
|
|
||||||
)
|
)
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
# --- Xuất export set robot_std_msgs-targets thành file CMake module ---
|
# Tìm tất cả header files
|
||||||
# --- Tạo file lib/cmake/robot_std_msgs/robot_std_msgs-targets.cmake ---
|
file(GLOB_RECURSE HEADERS "include/robot_std_msgs/*.h")
|
||||||
# --- File này chứa cấu hình giúp project khác có thể dùng ---
|
|
||||||
# --- Find_package(robot_std_msgs REQUIRED) ---
|
# Tạo INTERFACE library (header-only)
|
||||||
# --- Target_link_libraries(my_app PRIVATE robot_std_msgs::robot_std_msgs) ---
|
add_library(${PROJECT_NAME} INTERFACE)
|
||||||
install(EXPORT robot_std_msgs-targets
|
|
||||||
FILE robot_std_msgs-targets.cmake
|
if(BUILDING_WITH_CATKIN)
|
||||||
NAMESPACE robot_std_msgs::
|
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
DESTINATION lib/cmake/robot_std_msgs
|
|
||||||
)
|
# Set include directories
|
||||||
|
target_include_directories(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||||
|
$<INSTALL_INTERFACE:include>
|
||||||
|
)
|
||||||
|
|
||||||
|
# Link dependencies (header-only, chỉ cần include paths)
|
||||||
|
target_link_libraries(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
${catkin_LIBRARIES}
|
||||||
|
)
|
||||||
|
|
||||||
|
else()
|
||||||
|
|
||||||
|
# Set include directories
|
||||||
|
target_include_directories(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||||
|
$<INSTALL_INTERFACE:include>
|
||||||
|
)
|
||||||
|
|
||||||
|
# Link dependencies (header-only, chỉ cần include paths)
|
||||||
|
target_link_libraries(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
${PACKAGES_DIR}
|
||||||
|
)
|
||||||
|
|
||||||
|
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 ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||||
|
)
|
||||||
|
|
||||||
|
## Mark cpp header files for installation
|
||||||
|
install(DIRECTORY include/${PROJECT_NAME}/
|
||||||
|
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/${PROJECT_NAME}/
|
||||||
|
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 "Dependencies: robot_time")
|
||||||
|
message(STATUS "=================================")
|
||||||
|
endif()
|
||||||
|
|
|
||||||
|
|
@ -1,86 +1,142 @@
|
||||||
cmake_minimum_required(VERSION 3.10)
|
cmake_minimum_required(VERSION 3.0.2)
|
||||||
|
project(robot_visualization_msgs 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)
|
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
|
||||||
set(BUILDING_WITH_CATKIN TRUE)
|
set(BUILDING_WITH_CATKIN TRUE)
|
||||||
message(STATUS "Building robot_visualization_msgs with Catkin")
|
message(STATUS "Building robot_visualization_msgs with Catkin")
|
||||||
find_package(catkin REQUIRED)
|
|
||||||
else()
|
else()
|
||||||
set(BUILDING_WITH_CATKIN FALSE)
|
set(BUILDING_WITH_CATKIN FALSE)
|
||||||
message(STATUS "Building robot_visualization_msgs with Standalone CMake")
|
message(STATUS "Building robot_visualization_msgs with Standalone CMake")
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
project(robot_visualization_msgs)
|
# C++ Standard - must be set before find_package
|
||||||
|
|
||||||
set(CMAKE_CXX_STANDARD 17)
|
set(CMAKE_CXX_STANDARD 17)
|
||||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
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}")
|
||||||
|
|
||||||
|
set(PACKAGES_DIR
|
||||||
|
robot_std_msgs
|
||||||
|
)
|
||||||
|
|
||||||
|
else()
|
||||||
|
|
||||||
# ========================================================
|
# ========================================================
|
||||||
# Catkin specific configuration
|
# Catkin specific configuration
|
||||||
# ========================================================
|
# ========================================================
|
||||||
|
find_package(catkin REQUIRED COMPONENTS
|
||||||
|
robot_std_msgs
|
||||||
|
)
|
||||||
|
|
||||||
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(
|
catkin_package(
|
||||||
INCLUDE_DIRS include
|
INCLUDE_DIRS include
|
||||||
# LIBRARIES không cần vì đây là header-only library
|
# LIBRARIES không cần vì đây là header-only library
|
||||||
# CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
|
CATKIN_DEPENDS robot_std_msgs
|
||||||
|
)
|
||||||
|
|
||||||
|
include_directories(
|
||||||
|
include
|
||||||
|
${catkin_INCLUDE_DIRS}
|
||||||
)
|
)
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
# Thư viện header-only
|
# Tìm tất cả header files
|
||||||
add_library(robot_visualization_msgs INTERFACE)
|
file(GLOB_RECURSE HEADERS "include/robot_visualization_msgs/*.h")
|
||||||
|
|
||||||
# Include path tới thư mục chứa file header
|
# Tạo INTERFACE library (header-only)
|
||||||
target_include_directories(robot_visualization_msgs
|
add_library(${PROJECT_NAME} INTERFACE)
|
||||||
INTERFACE
|
|
||||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
|
||||||
$<INSTALL_INTERFACE:include>
|
|
||||||
)
|
|
||||||
|
|
||||||
# Add include directories from dependencies explicitly for Catkin build
|
|
||||||
if(BUILDING_WITH_CATKIN)
|
if(BUILDING_WITH_CATKIN)
|
||||||
# Use relative paths from current source directory
|
add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||||
# From robot_visualization_msgs (pnkx_robot_nav_core2/src/Libraries/common_msgs/robot_visualization_msgs)
|
|
||||||
# to robot_std_msgs (pnkx_robot_nav_core2/src/Libraries/common_msgs/robot_std_msgs) is ../robot_std_msgs
|
# Set include directories
|
||||||
get_filename_component(ROBOT_STD_MSGS_INCLUDE "${CMAKE_CURRENT_SOURCE_DIR}/../robot_std_msgs/include" ABSOLUTE)
|
target_include_directories(${PROJECT_NAME}
|
||||||
target_include_directories(robot_visualization_msgs INTERFACE
|
INTERFACE
|
||||||
$<BUILD_INTERFACE:${ROBOT_STD_MSGS_INCLUDE}>
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||||
|
$<INSTALL_INTERFACE:include>
|
||||||
)
|
)
|
||||||
|
|
||||||
|
# Link dependencies (header-only, chỉ cần include paths)
|
||||||
|
target_link_libraries(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
${catkin_LIBRARIES}
|
||||||
|
)
|
||||||
|
|
||||||
|
else()
|
||||||
|
|
||||||
|
# Set include directories
|
||||||
|
target_include_directories(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||||
|
$<INSTALL_INTERFACE:include>
|
||||||
|
)
|
||||||
|
|
||||||
|
# Link dependencies (header-only, chỉ cần include paths)
|
||||||
|
target_link_libraries(${PROJECT_NAME}
|
||||||
|
INTERFACE
|
||||||
|
${PACKAGES_DIR}
|
||||||
|
)
|
||||||
|
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
# Liên kết với robot_std_msgs nếu bạn có file Header.h trong include/robot_std_msgs/
|
if(BUILDING_WITH_CATKIN)
|
||||||
target_link_libraries(robot_visualization_msgs INTERFACE robot_std_msgs)
|
## 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 ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||||
|
)
|
||||||
|
|
||||||
# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
|
## Mark cpp header files for installation
|
||||||
# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
|
install(DIRECTORY include/${PROJECT_NAME}/
|
||||||
install(TARGETS robot_visualization_msgs
|
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||||
EXPORT robot_visualization_msgs-targets
|
FILES_MATCHING PATTERN "*.h"
|
||||||
INCLUDES DESTINATION include # Cài đặt include
|
PATTERN ".svn" EXCLUDE
|
||||||
)
|
)
|
||||||
|
|
||||||
if(NOT BUILDING_WITH_CATKIN)
|
else()
|
||||||
# Install headers for standalone mode
|
|
||||||
install(DIRECTORY include/
|
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/${PROJECT_NAME}/
|
||||||
DESTINATION include
|
DESTINATION include
|
||||||
FILES_MATCHING PATTERN "*.h"
|
FILES_MATCHING PATTERN "*.h"
|
||||||
|
PATTERN ".svn" EXCLUDE
|
||||||
)
|
)
|
||||||
endif()
|
|
||||||
|
|
||||||
# --- Xuất export set robot_visualization_msgs-targets thành file CMake module ---
|
# Print configuration info
|
||||||
# --- Tạo file lib/cmake/robot_visualization_msgs/robot_visualization_msgs-targets.cmake ---
|
message(STATUS "=================================")
|
||||||
# --- File này chứa cấu hình giúp project khác có thể dùng ---
|
message(STATUS "Project: ${PROJECT_NAME} (Header-Only)")
|
||||||
# --- Find_package(robot_visualization_msgs REQUIRED) ---
|
message(STATUS "Version: ${PROJECT_VERSION}")
|
||||||
# --- Target_link_libraries(my_app PRIVATE robot_visualization_msgs::robot_visualization_msgs) ---
|
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
|
||||||
install(EXPORT robot_visualization_msgs-targets
|
message(STATUS "Headers found:")
|
||||||
FILE robot_visualization_msgs-targets.cmake
|
foreach(hdr ${HEADERS})
|
||||||
NAMESPACE robot_visualization_msgs::
|
message(STATUS " - ${hdr}")
|
||||||
DESTINATION lib/cmake/robot_visualization_msgs
|
endforeach()
|
||||||
)
|
message(STATUS "Dependencies: robot_std_msgs")
|
||||||
|
message(STATUS "=================================")
|
||||||
|
endif()
|
||||||
|
|
|
||||||
|
|
@ -19,5 +19,6 @@
|
||||||
|
|
||||||
<buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
|
<buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
|
||||||
|
|
||||||
|
<build_depend>robot_std_msgs</build_depend>
|
||||||
|
<run_depend>robot_std_msgs</run_depend>
|
||||||
</package>
|
</package>
|
||||||
|
|
@ -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)
|
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
|
||||||
set(BUILDING_WITH_CATKIN TRUE)
|
set(BUILDING_WITH_CATKIN TRUE)
|
||||||
message(STATUS "Building utils with Catkin")
|
message(STATUS "Building utils with Catkin")
|
||||||
find_package(catkin REQUIRED)
|
|
||||||
else()
|
else()
|
||||||
set(BUILDING_WITH_CATKIN FALSE)
|
set(BUILDING_WITH_CATKIN FALSE)
|
||||||
message(STATUS "Building utils with Standalone CMake")
|
message(STATUS "Building utils with Standalone CMake")
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
# --- Project riêng cho utils ---
|
# C++ Standard - must be set before find_package
|
||||||
project(utils LANGUAGES CXX)
|
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
|
# Catkin specific configuration
|
||||||
# ========================================================
|
# ========================================================
|
||||||
|
find_package(catkin REQUIRED)
|
||||||
|
|
||||||
if(BUILDING_WITH_CATKIN)
|
|
||||||
## The catkin_package macro generates cmake config files for your package
|
|
||||||
catkin_package(
|
catkin_package(
|
||||||
INCLUDE_DIRS include
|
INCLUDE_DIRS include
|
||||||
# LIBRARIES không cần vì đây là header-only library
|
# LIBRARIES không cần vì đây là header-only library
|
||||||
)
|
)
|
||||||
endif()
|
|
||||||
|
|
||||||
# --- Tạo INTERFACE library (header-only) ---
|
include_directories(
|
||||||
add_library(utils INTERFACE)
|
include
|
||||||
|
${catkin_INCLUDE_DIRS}
|
||||||
# --- Include directories ---
|
|
||||||
target_include_directories(utils
|
|
||||||
INTERFACE
|
|
||||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> # build nội bộ
|
|
||||||
$<INSTALL_INTERFACE:include> # dùng khi install/export
|
|
||||||
)
|
|
||||||
|
|
||||||
# --- Cài đặt header files ---
|
|
||||||
if(NOT BUILDING_WITH_CATKIN)
|
|
||||||
install(DIRECTORY include/
|
|
||||||
DESTINATION include
|
|
||||||
FILES_MATCHING PATTERN "*.h"
|
|
||||||
)
|
)
|
||||||
endif()
|
endif()
|
||||||
|
|
||||||
# --- Cài đặt target INTERFACE để export ---
|
# Tìm tất cả header files
|
||||||
# Export target trong mọi trường hợp để các target khác có thể export và phụ thuộc vào nó
|
file(GLOB_RECURSE HEADERS "include/*.h")
|
||||||
install(TARGETS utils
|
|
||||||
EXPORT utils-targets
|
|
||||||
INCLUDES DESTINATION include
|
|
||||||
)
|
|
||||||
|
|
||||||
# --- Export target file ---
|
# Tạo INTERFACE library (header-only)
|
||||||
install(EXPORT utils-targets
|
add_library(${PROJECT_NAME} INTERFACE)
|
||||||
FILE utils-targets.cmake
|
|
||||||
NAMESPACE utils::
|
if(BUILDING_WITH_CATKIN)
|
||||||
DESTINATION lib/cmake/utils
|
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()
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue
Block a user