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windows Sun Apr 13 20:58:23 WEDT 2025

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This commit is contained in:
Niklas Halle 2025-04-13 20:58:23 +02:00
parent f53b7047f1
commit d7ecdf0108
6 changed files with 605 additions and 38 deletions
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41
src/priority_executor/CMakeLists.txt
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@ -19,11 +19,16 @@ find_package(rmw REQUIRED)
find_package(std_msgs REQUIRED)
find_package(std_srvs REQUIRED)
find_package(simple_timer REQUIRED)
find_package(nlohmann_json REQUIRED)
# Library targets
add_library(priority_executor
src/priority_executor.cpp
src/priority_memory_strategy.cpp
src/performance_monitor.cpp
src/default_executor.cpp
src/usage_example.cpp
src/multithread_priority_executor.cpp
)
target_include_directories(priority_executor PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
@ -34,35 +39,7 @@ ament_target_dependencies(priority_executor
rclcpp
rcl
simple_timer
)
add_library(multithread_priority_executor
src/multithread_priority_executor.cpp
src/priority_memory_strategy.cpp
)
target_include_directories(multithread_priority_executor PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
ament_target_dependencies(multithread_priority_executor
rmw
rclcpp
rcl
simple_timer
)
add_library(default_executor
src/default_executor.cpp
)
target_include_directories(default_executor PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
ament_target_dependencies(default_executor
rmw
rclcpp
rcl
simple_timer
nlohmann_json
)
# Example executable
@ -75,8 +52,6 @@ target_include_directories(usage_example PUBLIC
)
target_link_libraries(usage_example
priority_executor
multithread_priority_executor
default_executor
)
ament_target_dependencies(usage_example
rclcpp
@ -98,7 +73,7 @@ install(
)
install(
TARGETS priority_executor multithread_priority_executor default_executor
TARGETS priority_executor
EXPORT export_${PROJECT_NAME}
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
@ -114,5 +89,5 @@ install(
# Export and package configuration
ament_export_include_directories(include)
ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_dependencies(rclcpp rcl rmw simple_timer)
ament_export_dependencies(rclcpp rcl rmw simple_timer nlohmann_json)
ament_package()