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Add rcl_action package and headers (#307)

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* Create rcl_action package with proposed headers for:
  - Action client
  - Action server
  - Goal handle
  - Goal state machine
  - Types

* Add rcl_action.h and Doxyfile

* Add functions for adding action clients and action servers to a wait set

* Add default QoS profile for status topic and document default options for action clients/servers

* Include all headers in a .c file for testing compilation
This commit is contained in:
Jacob Perron 2018-10-26 15:55:13 -07:00 • committed by GitHub
parent 5e3d4be720
commit 451bf4a1a4
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110
rcl_action/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.5)
project(rcl_action)
find_package(ament_cmake_ros REQUIRED)
find_package(action_msgs REQUIRED)
find_package(rcl REQUIRED)
find_package(rcutils REQUIRED)
# find_package(rmw REQUIRED)
include_directories(
include
${action_msgs_INCLUDE_DIRS}
${rcl_INCLUDE_DIRS}
${rcutils_INCLUDE_DIRS}
)
# Default to C11
if(NOT CMAKE_C_STANDARD)
set(CMAKE_C_STANDARD 11)
endif()
# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
add_executable(test_compile_headers
src/test_compile_headers.c
)
# set(rcl_action_sources
# src/action_server.c
# src/action_client.c
# src/action_goal.c
# src/transition_map.c
# )
# set_source_files_properties(
# ${rcl_action_sources}
# PROPERTIES language "C"
# )
### C-Library depending only on RCL
# add_library(
# ${PROJECT_NAME}
# ${rcl_action_sources}
# )
# specific order: dependents before dependencies
# ament_target_dependencies(${PROJECT_NAME}
# "rcl"
# "action_msgs"
# "rosidl_generator_c"
# "rcutils"
# )
# Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it.
# target_compile_definitions(${PROJECT_NAME} PRIVATE "RCL_ACTION_BUILDING_DLL")
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION lib
# LIBRARY DESTINATION lib
# RUNTIME DESTINATION bin
# )
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
# Gtests
# ament_add_gtest(test_action_server
# test/test_action_server.cpp
# )
# if(TARGET test_action_server)
# target_include_directories(test_action_server PUBLIC
# ${rcl_INCLUDE_DIRS}
# )
# target_link_libraries(test_action_server ${PROJECT_NAME})
# endif()
# ament_add_gtest(test_action_client
# test/test_action_client.cpp
# )
# if(TARGET test_action_client)
# target_include_directories(test_action_client PUBLIC
# ${rcl_INCLUDE_DIRS}
# )
# target_link_libraries(test_action_client ${PROJECT_NAME})
# endif()
endif()
# specific order: dependents before dependencies
ament_export_include_directories(include)
# ament_export_libraries(${PROJECT_NAME})
ament_export_dependencies(ament_cmake)
ament_export_dependencies(rcl)
# ament_export_dependencies(action_msgs)
ament_export_dependencies(rcutils)
ament_package()
install(
DIRECTORY include/
DESTINATION include
)