fix file cmake

.gitignore

@@ -0,0 +1,2 @@
+# Bỏ qua thư mục build/
+build/

geometry_msgs/CMakeLists.txt

@@ -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
+target_include_directories(geometry_msgs
-  ${CMAKE_CURRENT_SOURCE_DIR}/include
+    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)
+

geometry_msgs/include/geometry_msgs/Pose.h

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

geometry_msgs/include/geometry_msgs/Quaternion.h

@@ -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_)

map_msgs/CMakeLists.txt

@@ -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
+target_include_directories(map_msgs
-  ${CMAKE_CURRENT_SOURCE_DIR}/include
+    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
+)

nav_msgs/CMakeLists.txt

@@ -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
+target_include_directories(nav_msgs
-  ${CMAKE_CURRENT_SOURCE_DIR}/include
+    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)

sensor_msgs/CMakeLists.txt

@@ -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
+target_include_directories(sensor_msgs
-  ${CMAKE_CURRENT_SOURCE_DIR}/include
+    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)

std_msgs/CMakeLists.txt

@@ -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
+)