47 lines
987 B
CMake
47 lines
987 B
CMake
cmake_minimum_required(VERSION 3.5)
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project(rm_serial_driver)
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(serial REQUIRED)
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find_package(rm_msgs REQUIRED)
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# 构建共享库作为组件节点
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add_library(rm_serial_driver SHARED
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src/rm_serial_driver.cpp
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src/crc.cpp
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)
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target_include_directories(rm_serial_driver PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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ament_target_dependencies(rm_serial_driver
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rclcpp
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rclcpp_components
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std_msgs
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serial
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rm_msgs
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)
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# 注册节点
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rclcpp_components_register_nodes(rm_serial_driver "rm_serial_driver::RMSerialDriver")
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install(DIRECTORY launch
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DESTINATION share/${PROJECT_NAME}/
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)
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install(DIRECTORY config
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DESTINATION share/${PROJECT_NAME}/
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)
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install(TARGETS rm_serial_driver
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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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ament_package() |