Hiep update

robot_tf3_geometry_msgs/CMakeLists.txt

@@ -0,0 +1,75 @@
+cmake_minimum_required(VERSION 3.10)
+project(robot_tf3_geometry_msgs)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+
+# Find dependencies
+find_package(Boost COMPONENTS thread REQUIRED)
+find_package(GTest REQUIRED)
+# Finding Eigen3
+find_package(Eigen3 REQUIRED)
+
+# Include directories
+include_directories(
+  include
+  ${EIGEN3_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+  ${GTEST_INCLUDE_DIRS}
+)
+
+# Install headers
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION include/${PROJECT_NAME}
+)
+
+add_library(robot_tf3_geometry_msgs INTERFACE
+)
+
+target_include_directories(robot_tf3_geometry_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_tf3_geometry_msgs INTERFACE 
+                      geometry_msgs
+                      data_convert
+                      )
+
+# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+install(TARGETS robot_tf3_geometry_msgs
+  EXPORT robot_tf3_geometry_msgs-targets
+  INCLUDES DESTINATION include # Cài đặt include
+)
+
+# --- Xuất export set robot_tf3_geometry_msgs-targets thành file CMake module ---
+# --- Tạo file lib/cmake/robot_tf3_geometry_msgs/robot_tf3_geometry_msgs-targets.cmake ---
+# --- File này chứa cấu hình giúp project khác có thể dùng ---
+# --- Find_package(robot_tf3_geometry_msgs REQUIRED) ---
+# --- Target_link_libraries(my_app PRIVATE tf3_robot_geometry_msgs::robot_tf3_geometry_msgs) ---
+install(EXPORT robot_tf3_geometry_msgs-targets 
+  FILE robot_tf3_geometry_msgs-targets.cmake
+  DESTINATION lib/cmake/robot_tf3_geometry_msgs
+)
+  
+#   # Test: tomsg_frommsg
+  add_executable(test_tomsg_frommsg test/test_tomsg_frommsg.cpp)
+  target_link_libraries(test_tomsg_frommsg 
+    ${GTEST_LIBRARIES}
+    robot_tf3_geometry_msgs
+    Threads::Threads
+    tf3
+    data_convert
+  )
+#   # Test: tf2_geometry_msgs
+  add_executable(test_geometry_msgs test/test_tf2_geometry_msgs.cpp)
+  target_link_libraries(test_geometry_msgs 
+    ${GTEST_LIBRARIES}
+    Threads::Threads
+    tf3
+    robot_tf3_geometry_msgs
+    data_convert
+  )