60 lines
1.9 KiB
CMake
60 lines
1.9 KiB
CMake
cmake_minimum_required(VERSION 3.16)
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find_package(yaml-cpp REQUIRED)
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add_subdirectory(serial)
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# 创建目标 io
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add_library(io STATIC
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hikrobot/hikrobot.cpp
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mindvision/mindvision.cpp
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usbcamera/usbcamera.cpp
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camera.cpp
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cboard.cpp
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dm_imu/dm_imu.cpp
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gimbal/gimbal.cpp
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)
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# hikrobot
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target_include_directories(io PUBLIC hikrobot/include)
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if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
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target_link_directories(io PUBLIC hikrobot/lib/amd64)
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elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
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target_link_directories(io PUBLIC hikrobot/lib/arm64)
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else()
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message(FATAL_ERROR "Unsupported architecture: ${CMAKE_HOST_SYSTEM_PROCESSOR}!")
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endif()
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# mindvision
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target_include_directories(io PUBLIC mindvision/include)
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if(CMAKE_SYSTEM_PROCESSOR MATCHES "x86_64")
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target_link_directories(io PUBLIC mindvision/lib/amd64)
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elseif(CMAKE_SYSTEM_PROCESSOR MATCHES "aarch64")
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target_link_directories(io PUBLIC mindvision/lib/arm64)
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else()
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message(FATAL_ERROR "Unsupported architecture: ${CMAKE_HOST_SYSTEM_PROCESSOR}!")
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endif()
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target_link_libraries(io MvCameraControl MVSDK usb-1.0 yaml-cpp serial)
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################## 检查 ROS 环境 ##################
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find_package(ament_cmake QUIET)
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find_package(rclcpp QUIET)
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find_package(std_msgs QUIET)
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find_package(rosidl_typesupport_cpp QUIET)
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find_package(sp_msgs QUIET)
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# 如果找不到 ROS 环境，则跳过 ROS 相关的部分
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if(NOT ament_cmake_FOUND OR NOT rclcpp_FOUND OR NOT std_msgs_FOUND OR NOT rosidl_typesupport_cpp_FOUND OR NOT sp_msgs_FOUND)
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message(WARNING "ROS2 not found, skipping ROS2 specific code.")
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else()
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message(STATUS "ROS2 environment found, compiling ROS2-related code.")
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# 添加 ROS2 相关的文件
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target_sources(io PRIVATE ros2/publish2nav.cpp ros2/ros2.cpp ros2/subscribe2nav.cpp)
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# 设置 ROS2 依赖
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include_directories(${std_msgs_INCLUDE_DIRS})
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ament_target_dependencies(io rclcpp std_msgs sp_msgs)
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endif()
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