127 lines
3.1 KiB
Text
127 lines
3.1 KiB
Text
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cmake_minimum_required(VERSION 3.5)
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project(priority_executor)
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# Default to C99
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if(NOT CMAKE_C_STANDARD)
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set(CMAKE_C_STANDARD 99)
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endif()
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rcl REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(std_srvs REQUIRED)
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find_package(simple_timer REQUIRED)
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add_library(priority_executor src/priority_executor.cpp)
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target_include_directories(priority_executor PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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ament_target_dependencies(priority_executor
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rmw
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rclcpp
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rcl
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simple_timer
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)
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add_library(test_nodes src/test_nodes.cpp)
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target_include_directories(test_nodes PUBLIC
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$<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(test_nodes
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rmw
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rclcpp
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rcl
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simple_timer
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std_msgs
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)
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target_link_libraries(test_nodes
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primes_workload
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)
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add_library(primes_workload src/primes_workload.cpp)
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target_include_directories(primes_workload PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>
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)
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ament_target_dependencies(primes_workload
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simple_timer
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)
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add_executable(test_publisher src/test_publisher.cpp)
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target_include_directories(test_publisher PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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target_link_libraries(test_publisher
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priority_executor
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test_nodes
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default_executor
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)
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ament_target_dependencies(
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test_publisher
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rclcpp
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std_msgs
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std_srvs
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simple_timer
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)
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install(TARGETS test_publisher priority_executor
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DESTINATION lib/${PROJECT_NAME})
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add_library(default_executor src/default_executor.cpp)
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target_include_directories(default_executor PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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ament_target_dependencies(default_executor
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rclcpp
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simple_timer
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)
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target_link_libraries(default_executor
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primes_workload
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)
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add_executable(f1tenth_publisher src/f1tenth_test.cpp)
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target_include_directories(test_publisher PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
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$<INSTALL_INTERFACE:include>)
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target_link_libraries(f1tenth_publisher
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priority_executor
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test_nodes
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default_executor
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)
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ament_target_dependencies(f1tenth_publisher
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rclcpp
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std_msgs
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std_srvs
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simple_timer
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)
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install(TARGETS f1tenth_publisher priority_executor
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DESTINATION lib/${PROJECT_NAME})
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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