ros

CMakeLists.txt

@@ -1,13 +1,61 @@
 cmake_minimum_required(VERSION 3.10)
+
+# ========================================================
+# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
+# ========================================================
+
+# Detect if building with Catkin
+if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
+  set(BUILDING_WITH_CATKIN TRUE)
+  message(STATUS "Building data_convert with Catkin")
+else()
+  set(BUILDING_WITH_CATKIN FALSE)
+  message(STATUS "Building data_convert with Standalone CMake")
+endif()
+
 project(data_convert)
 
 set(CMAKE_CXX_STANDARD 17)
 
+# ========================================================
+# Find dependencies
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  find_package(catkin REQUIRED COMPONENTS
+    robot_geometry_msgs
+  )
+endif()
+
+# ========================================================
+# Catkin specific configuration
+# ========================================================
+
+if(BUILDING_WITH_CATKIN)
+  catkin_package(
+    INCLUDE_DIRS include
+    # Header-only library; keep LIBRARIES for visibility when exporting
+    LIBRARIES data_convert
+    CATKIN_DEPENDS robot_geometry_msgs
+  )
+endif()
+
 add_library(data_convert INTERFACE)
 
-target_link_libraries(data_convert INTERFACE 
+# Link libraries
-    robot_geometry_msgs
+if(BUILDING_WITH_CATKIN)
-)
+  target_link_libraries(data_convert INTERFACE 
+      ${catkin_LIBRARIES}
+  )
+else()
+  target_link_libraries(data_convert INTERFACE 
+      robot_geometry_msgs
+  )
+endif()
+
+if(BUILDING_WITH_CATKIN)
+  add_dependencies(data_convert ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+endif()
 
 target_include_directories(data_convert
     INTERFACE
@@ -15,12 +63,24 @@ target_include_directories(data_convert
         $<INSTALL_INTERFACE:include>
 )
 
+# ========================================================
+# Installation
+# ========================================================
+
 # --- Cài đặt thư viện vào hệ thống khi chạy make install ---
 install(TARGETS data_convert
   EXPORT data_convert-targets
   INCLUDES DESTINATION include # Cài đặt include
 )
 
+if(NOT BUILDING_WITH_CATKIN)
+  # Cài đặt headers (standalone)
+  install(DIRECTORY include/
+      DESTINATION include
+      FILES_MATCHING PATTERN "*.h"
+  )
+endif()
+
 # --- Xuất export set data_convert-targets thành file CMake module ---
 # --- Tạo file lib/cmake/data_convert/data_convert-targets.cmake ---
 # --- File này chứa cấu hình giúp project khác có thể dùng ---

package.xml

@@ -19,8 +19,7 @@
     
   <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
-  <build_depend>libconsole-bridge-dev</build_depend>
+  <build_depend>robot_geometry_msgs</build_depend>
-
+  <run_depend>robot_geometry_msgs</run_depend>
-  <run_depend>libconsole-bridge-dev</run_depend>
 
 </package>