Hiep update

robot_tf3_sensor_msgs/CMakeLists.txt

@@ -0,0 +1,70 @@
+cmake_minimum_required(VERSION 3.10)
+project(robot_tf3_sensor_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}
+)
+
+add_library(robot_tf3_sensor_msgs INTERFACE
+)
+
+target_include_directories(robot_tf3_sensor_msgs
+    INTERFACE
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>
+)
+
+target_link_libraries(robot_tf3_sensor_msgs INTERFACE 
+                      robot_sensor_msgs
+                      data_convert
+                      )
+
+# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+install(TARGETS robot_tf3_sensor_msgs
+  EXPORT robot_tf3_sensor_msgs-targets
+  INCLUDES DESTINATION include # Cài đặt include
+)
+
+# --- Xuất export set robot_tf3_sensor_msgs-targets thành file CMake module ---
+# --- Tạo file lib/cmake/robot_tf3_sensor_msgs/robot_tf3_sensor_msgs-targets.cmake ---
+# --- File này chứa cấu hình giúp project khác có thể dùng ---
+# --- Find_package(robot_tf3_sensor_msgs REQUIRED) ---
+# --- Target_link_libraries(my_app PRIVATE robot_tf3_sensor_msgs::robot_tf3_sensor_msgs) ---
+install(EXPORT robot_tf3_sensor_msgs-targets 
+  FILE robot_tf3_sensor_msgs-targets.cmake
+  NAMESPACE robot_tf3_sensor_msgs::
+  DESTINATION lib/cmake/robot_tf3_sensor_msgs
+)
+  
+add_executable(test_tf2_sensor_msgs test/test_tf2_sensor_msgs.cpp)
+target_include_directories(test_tf2_sensor_msgs PUBLIC 
+  ${EIGEN3_INCLUDE_DIRS}
+  ${GTEST_INCLUDE_DIRS}
+  robot_tf3_sensor_msgs
+  geometry_msgs
+  tf3
+)
+target_link_libraries(test_tf2_sensor_msgs 
+  ${GTEST_LIBRARIES}
+  Threads::Threads
+  robot_tf3_sensor_msgs
+  geometry_msgs
+  tf3
+  data_convert
+)