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fix file cmake

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This commit is contained in:
duongtd 2025-12-02 10:40:36 +07:00
parent 28a7d14498
commit ff4856ab15
8 changed files with 130 additions and 36 deletions
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2
.gitignore vendored Normal file
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@ -0,0 +1,2 @@
# Bỏ qua thư mục build/
build/

31
geometry_msgs/CMakeLists.txt
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@ -4,20 +4,39 @@ project(geometry_msgs)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
if (NOT TARGET std_msgs)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../std_msgs ${CMAKE_BINARY_DIR}/std_msgs_build)
endif()
# Thư viện header-only
add_library(geometry_msgs INTERFACE)
# Include path tới thư mục chứa file header
target_include_directories(geometry_msgs INTERFACE
${CMAKE_CURRENT_SOURCE_DIR}/include
target_include_directories(geometry_msgs
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Liên kết với std_msgs nếu bạn có file Header.h trong include/std_msgs/
target_link_libraries(geometry_msgs INTERFACE std_msgs)
# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
install(TARGETS geometry_msgs
EXPORT geometry_msgs-targets
ARCHIVE DESTINATION lib # Thư viện tĩnh .a
LIBRARY DESTINATION lib # Thư viện động .so
RUNTIME DESTINATION bin # File thực thi (nếu có)
INCLUDES DESTINATION include # Cài đặt include
)
# --- Xuất export set costmap_2dTargets thành file CMake module ---
# --- Tạo file lib/cmake/geometry_msgs/costmap_2dTargets.cmake ---
# --- File này chứa cấu hình giúp project khác có thể dùng ---
# --- Find_package(geometry_msgs REQUIRED) ---
# --- Target_link_libraries(my_app PRIVATE geometry_msgs::geometry_msgs) ---
install(EXPORT geometry_msgs-targets
FILE geometry_msgs-targets.cmake
NAMESPACE geometry_msgs::
DESTINATION lib/cmake/geometry_msgs
)
add_executable(test_geometry test/main.cpp)
target_link_libraries(test_geometry PRIVATE geometry_msgs)

2
geometry_msgs/include/geometry_msgs/Pose.h
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@ -13,6 +13,8 @@ struct Pose
{
Point position;
Quaternion orientation;
Pose() = default;
};
} // namespace geometry_msgs

2
geometry_msgs/include/geometry_msgs/Quaternion.h
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@ -12,7 +12,7 @@ struct Quaternion
double w;
// Constructor mặc định
Quaternion() : x(0.0), y(0.0), z(0.0), w(0.0) {}
Quaternion() : x(0.0), y(0.0), z(0.0), w(1.0) {}
// Constructor khởi tạo nhanh
Quaternion(double x_, double y_, double z_, double w_)

30
map_msgs/CMakeLists.txt
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@ -4,17 +4,35 @@ project(map_msgs)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
if (NOT TARGET std_msgs)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/std_msgs ${CMAKE_BINARY_DIR}/std_msgs_build)
endif()
# Thư viện header-only
add_library(map_msgs INTERFACE)
# Include path tới thư mục chứa file header
target_include_directories(map_msgs INTERFACE
${CMAKE_CURRENT_SOURCE_DIR}/include
target_include_directories(map_msgs
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Liên kết với std_msgs nếu bạn có file Header.h trong include/std_msgs/
target_link_libraries(map_msgs INTERFACE std_msgs)
# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
install(TARGETS map_msgs
EXPORT map_msgs-targets
ARCHIVE DESTINATION lib # Thư viện tĩnh .a
LIBRARY DESTINATION lib # Thư viện động .so
RUNTIME DESTINATION bin # File thực thi (nếu có)
INCLUDES DESTINATION include # Cài đặt include
)
# --- Xuất export set costmap_2dTargets thành file CMake module ---
# --- Tạo file lib/cmake/map_msgs/costmap_2dTargets.cmake ---
# --- File này chứa cấu hình giúp project khác có thể dùng ---
# --- Find_package(map_msgs REQUIRED) ---
# --- Target_link_libraries(my_app PRIVATE map_msgs::map_msgs) ---
install(EXPORT map_msgs-targets
FILE map_msgs-targets.cmake
NAMESPACE map_msgs::
DESTINATION lib/cmake/map_msgs
)

34
nav_msgs/CMakeLists.txt
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@ -4,26 +4,42 @@ project(nav_msgs)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
if (NOT TARGET std_msgs)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../std_msgs ${CMAKE_BINARY_DIR}/std_msgs_build)
endif()
if (NOT TARGET geometry_msgs)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
endif()
# Thư viện header-only
add_library(nav_msgs INTERFACE)
# Include path tới thư mục chứa file header
target_include_directories(nav_msgs INTERFACE
${CMAKE_CURRENT_SOURCE_DIR}/include
target_include_directories(nav_msgs
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Liên kết với std_msgs nếu bạn có file Header.h trong include/std_msgs/
target_link_libraries(nav_msgs INTERFACE
std_msgs
nav_msgs
geometry_msgs
)
# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
install(TARGETS nav_msgs
EXPORT nav_msgs-targets
ARCHIVE DESTINATION lib # Thư viện tĩnh .a
LIBRARY DESTINATION lib # Thư viện động .so
RUNTIME DESTINATION bin # File thực thi (nếu có)
INCLUDES DESTINATION include # Cài đặt include
)
# --- Xuất export set costmap_2dTargets thành file CMake module ---
# --- Tạo file lib/cmake/nav_msgs/costmap_2dTargets.cmake ---
# --- File này chứa cấu hình giúp project khác có thể dùng ---
# --- Find_package(nav_msgs REQUIRED) ---
# --- Target_link_libraries(my_app PRIVATE nav_msgs::nav_msgs) ---
install(EXPORT nav_msgs-targets
FILE nav_msgs-targets.cmake
NAMESPACE nav_msgs::
DESTINATION lib/cmake/nav_msgs
)
add_executable(test_nav test/main.cpp)
target_link_libraries(test_nav PRIVATE nav_msgs)

31
sensor_msgs/CMakeLists.txt
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@ -4,21 +4,38 @@ project(sensor_msgs)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
if (NOT TARGET std_msgs)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../std_msgs ${CMAKE_BINARY_DIR}/std_msgs_build)
endif()
# Thư viện header-only
add_library(sensor_msgs INTERFACE)
# Include path tới thư mục chứa file header
target_include_directories(sensor_msgs INTERFACE
${CMAKE_CURRENT_SOURCE_DIR}/include
target_include_directories(sensor_msgs
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Liên kết với std_msgs nếu bạn có file Header.h trong include/std_msgs/
target_link_libraries(sensor_msgs INTERFACE std_msgs)
# target_link_libraries(sensor_msgs yaml-cpp)
# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
install(TARGETS sensor_msgs
EXPORT sensor_msgs-targets
ARCHIVE DESTINATION lib # Thư viện tĩnh .a
LIBRARY DESTINATION lib # Thư viện động .so
RUNTIME DESTINATION bin # File thực thi (nếu có)
INCLUDES DESTINATION include # Cài đặt include
)
# --- Xuất export set costmap_2dTargets thành file CMake module ---
# --- Tạo file lib/cmake/sensor_msgs/costmap_2dTargets.cmake ---
# --- File này chứa cấu hình giúp project khác có thể dùng ---
# --- Find_package(sensor_msgs REQUIRED) ---
# --- Target_link_libraries(my_app PRIVATE sensor_msgs::sensor_msgs) ---
install(EXPORT sensor_msgs-targets
FILE sensor_msgs-targets.cmake
NAMESPACE sensor_msgs::
DESTINATION lib/cmake/sensor_msgs
)
# Tạo file test ví dụ
add_executable(test_battery_state test/main.cpp)

34
std_msgs/CMakeLists.txt
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@ -3,12 +3,32 @@ project(std_msgs)
set(CMAKE_CXX_STANDARD 17)
if (NOT TARGET robot_time)
# add_subdirectory(${CMAKE_SOURCE_DIR}/../robot_time ${CMAKE_BINARY_DIR}/robot_time_build)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../../robot_time ${CMAKE_BINARY_DIR}/robot_time_build)
endif()
add_library(std_msgs INTERFACE)
target_include_directories(std_msgs INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/include
${CMAKE_SOURCE_DIR}/../robot_time/include)
target_include_directories(std_msgs
INTERFACE
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
target_link_libraries(std_msgs INTERFACE robot_time)
# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
install(TARGETS std_msgs
EXPORT std_msgs-targets
ARCHIVE DESTINATION lib # Thư viện tĩnh .a
LIBRARY DESTINATION lib # Thư viện động .so
RUNTIME DESTINATION bin # File thực thi (nếu có)
INCLUDES DESTINATION include # Cài đặt include
)
# --- Xuất export set std_msgs-targets thành file CMake module ---
# --- Tạo file lib/cmake/std_msgs/std_msgs-targets.cmake ---
# --- File này chứa cấu hình giúp project khác có thể dùng ---
# --- Find_package(std_msgs REQUIRED) ---
# --- Target_link_libraries(my_app PRIVATE std_msgs::std_msgs) ---
install(EXPORT std_msgs-targets
FILE std_msgs-targets.cmake
NAMESPACE std_msgs::
DESTINATION lib/cmake/std_msgs
)