update for ROS
This commit is contained in:
@@ -1,98 +1,176 @@
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cmake_minimum_required(VERSION 3.10)
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cmake_minimum_required(VERSION 3.0.2)
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project(robot_tf3_sensor_msgs VERSION 1.0.0 LANGUAGES CXX)
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# ========================================================
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# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
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# ========================================================
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# Detect if building with Catkin
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if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
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set(BUILDING_WITH_CATKIN TRUE)
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message(STATUS "Building robot_tf3_sensor_msgs with Catkin")
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find_package(catkin REQUIRED)
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else()
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set(BUILDING_WITH_CATKIN FALSE)
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message(STATUS "Building robot_tf3_sensor_msgs with Standalone CMake")
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endif()
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project(robot_tf3_sensor_msgs)
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# C++ Standard - must be set before find_package
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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set(CMAKE_CXX_EXTENSIONS OFF)
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# Find dependencies
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find_package(Boost REQUIRED COMPONENTS thread)
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find_package(Eigen3 REQUIRED)
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find_package(GTest REQUIRED)
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if (NOT BUILDING_WITH_CATKIN)
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# Enable Position Independent Code
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set(CMAKE_POSITION_INDEPENDENT_CODE ON)
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# Cấu hình RPATH để tránh cycle trong runtime search path
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set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
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set(PACKAGES_DIR
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robot_sensor_msgs
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data_convert
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tf3
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robot_geometry_msgs
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)
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else()
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# ========================================================
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# Catkin specific configuration
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# ========================================================
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find_package(catkin REQUIRED COMPONENTS
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robot_sensor_msgs
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data_convert
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tf3
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robot_geometry_msgs
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)
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if(BUILDING_WITH_CATKIN)
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catkin_package(
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INCLUDE_DIRS include
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# LIBRARIES không cần vì đây là header-only library
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# CATKIN_DEPENDS không cần vì dependencies không phải Catkin packages
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CATKIN_DEPENDS robot_sensor_msgs data_convert tf3 robot_geometry_msgs
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DEPENDS Eigen3 Boost
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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)
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endif()
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# Find dependencies
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find_package(Boost COMPONENTS thread REQUIRED)
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find_package(GTest REQUIRED)
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# Tìm tất cả header files
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file(GLOB_RECURSE HEADERS "include/robot_tf3_sensor_msgs/*.h")
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# Finding Eigen3
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find_package(Eigen3 REQUIRED)
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# Tạo INTERFACE library (header-only)
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add_library(${PROJECT_NAME} INTERFACE)
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if(BUILDING_WITH_CATKIN)
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add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
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# Include directories
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include_directories(
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include
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${EIGEN3_INCLUDE_DIRS}
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${Boost_INCLUDE_DIRS}
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${GTEST_INCLUDE_DIRS}
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)
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# Set include directories
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target_include_directories(${PROJECT_NAME}
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INTERFACE
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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add_library(robot_tf3_sensor_msgs INTERFACE
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)
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target_include_directories(robot_tf3_sensor_msgs
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# Link dependencies (header-only, chỉ cần include paths)
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target_link_libraries(${PROJECT_NAME}
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INTERFACE
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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${catkin_LIBRARIES}
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)
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target_link_libraries(robot_tf3_sensor_msgs INTERFACE
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robot_sensor_msgs
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data_convert
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)
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else()
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# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
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install(TARGETS robot_tf3_sensor_msgs
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EXPORT robot_tf3_sensor_msgs-targets
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INCLUDES DESTINATION include # Cài đặt include
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)
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# Set include directories
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target_include_directories(${PROJECT_NAME}
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INTERFACE
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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# --- Xuất export set robot_tf3_sensor_msgs-targets thành file CMake module ---
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# --- Tạo file lib/cmake/robot_tf3_sensor_msgs/robot_tf3_sensor_msgs-targets.cmake ---
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# --- File này chứa cấu hình giúp project khác có thể dùng ---
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# --- Find_package(robot_tf3_sensor_msgs REQUIRED) ---
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# --- Target_link_libraries(my_app PRIVATE robot_tf3_sensor_msgs::robot_tf3_sensor_msgs) ---
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install(EXPORT robot_tf3_sensor_msgs-targets
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FILE robot_tf3_sensor_msgs-targets.cmake
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NAMESPACE robot_tf3_sensor_msgs::
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DESTINATION lib/cmake/robot_tf3_sensor_msgs
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)
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add_executable(test_tf2_sensor_msgs test/test_tf2_sensor_msgs.cpp)
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target_include_directories(test_tf2_sensor_msgs PUBLIC
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${EIGEN3_INCLUDE_DIRS}
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${GTEST_INCLUDE_DIRS}
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robot_tf3_sensor_msgs
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geometry_msgs
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tf3
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)
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target_link_libraries(test_tf2_sensor_msgs
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${GTEST_LIBRARIES}
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Threads::Threads
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robot_tf3_sensor_msgs
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geometry_msgs
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tf3
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data_convert
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)
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# Link dependencies (header-only, chỉ cần include paths)
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target_link_libraries(${PROJECT_NAME}
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INTERFACE
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${PACKAGES_DIR}
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)
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endif()
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if(BUILDING_WITH_CATKIN)
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## Mark libraries for installation
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## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
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install(TARGETS ${PROJECT_NAME}
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
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)
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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FILES_MATCHING PATTERN "*.h"
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PATTERN ".svn" EXCLUDE
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)
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else()
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install(TARGETS ${PROJECT_NAME}
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EXPORT ${PROJECT_NAME}-targets
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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# Export targets
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install(EXPORT ${PROJECT_NAME}-targets
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FILE ${PROJECT_NAME}-targets.cmake
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NAMESPACE ${PROJECT_NAME}::
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DESTINATION lib/cmake/${PROJECT_NAME}
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)
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## Mark cpp header files for installation
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install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION include
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FILES_MATCHING PATTERN "*.h"
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PATTERN ".svn" EXCLUDE
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)
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# Print configuration info
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message(STATUS "=================================")
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message(STATUS "Project: ${PROJECT_NAME} (Header-Only)")
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message(STATUS "Version: ${PROJECT_VERSION}")
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message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
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message(STATUS "Headers found:")
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foreach(hdr ${HEADERS})
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message(STATUS " - ${hdr}")
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endforeach()
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message(STATUS "Dependencies: robot_sensor_msgs, data_convert, tf3, robot_geometry_msgs, Eigen3, Boost")
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message(STATUS "=================================")
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endif()
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# ========================================================
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# Test executables
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# ========================================================
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if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/test_tf2_sensor_msgs.cpp)
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add_executable(${PROJECT_NAME}_test test/test_tf2_sensor_msgs.cpp)
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target_include_directories(${PROJECT_NAME}_test PUBLIC
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${EIGEN3_INCLUDE_DIRS}
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${GTEST_INCLUDE_DIRS}
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)
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target_link_libraries(${PROJECT_NAME}_test PRIVATE
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${PROJECT_NAME}
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GTest::GTest
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GTest::Main
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Threads::Threads
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robot_geometry_msgs
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tf3
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data_convert
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)
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endif()
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