2014-07-30 17:57:21 -07:00
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cmake_minimum_required(VERSION 2.8.3)
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project(ros_dds_connext_dynamic)
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find_package(ament_cmake REQUIRED)
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find_package(ros_middleware_interface REQUIRED)
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find_package(rosidl_generator_cpp REQUIRED)
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find_package(ndds_cpp REQUIRED)
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2014-08-01 16:59:55 -07:00
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#set(CONNEXT_INCLUDE_DIRS ${ndds_cpp_INCLUDE_DIRS})
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set(CONNEXT_INCLUDE_DIRS
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"/home/dthomas/RTI/ndds.5.1.0/include/ndds"
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"/home/dthomas/RTI/ndds.5.1.0/include"
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)
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#set(CONNEXT_LIBRARIES ${ndds_cpp_LIBRARIES})
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set(CONNEXT_LIBRARIES
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"/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5/libnddscppz.a"
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"/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5/libnddscz.a"
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"/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5/libnddscorez.a"
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)
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2014-07-30 17:57:21 -07:00
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set(CONNEXT_DEFINITIONS ${ndds_cpp_DEFINITIONS})
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2014-08-01 16:59:55 -07:00
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set(_dds_vendor "$ENV{ROS_DDS_IMPLEMENTATION}")
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set(_dds_type "$ENV{ROS_DDS_TYPE}")
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if("${_dds_type}" STREQUAL "dynamic")
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find_package(ros_dds_cpp_dynamic_typesupport REQUIRED)
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ament_export_dependencies(ros_dds_cpp_dynamic_typesupport)
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include_directories(${ros_dds_cpp_dynamic_typesupport_INCLUDE_DIRS})
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elseif("${_dds_type}" STREQUAL "static")
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if("${_dds_vendor}" STREQUAL "connext")
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find_package(ros_dds_connext_static REQUIRED)
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ament_export_definitions(${CONNEXT_DEFINITIONS})
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ament_export_dependencies(ros_dds_connext_static)
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include_directories(${ros_dds_connext_static_INCLUDE_DIRS})
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elseif("${_dds_vendor}" STREQUAL "opensplice")
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message(FATAL_ERROR "The DDS implementation '${_dds_vendor}' does not yet support the type '${_dds_type}'.")
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else()
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message(FATAL_ERROR "Set the environment variable 'ROS_DDS_IMPLEMENTATION' to either 'connext' or 'opensplice'.")
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endif()
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else()
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message(FATAL_ERROR "Set the environment variable 'ROS_DDS_TYPE' to either 'dynamic' or 'static'.")
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endif()
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ament_export_dependencies(ros_middleware_interface rosidl_generator_cpp)
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2014-07-30 17:57:21 -07:00
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ament_export_libraries(ros_dds_connext_dynamic dl pthread)
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ament_package()
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2014-08-01 16:59:55 -07:00
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include_directories(${ros_middleware_interface_INCLUDE_DIRS} ${rosidl_generator_cpp_INCLUDE_DIRS} ${CONNEXT_INCLUDE_DIRS})
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link_directories("/home/dthomas/RTI/ndds.5.1.0/lib/x64Linux2.6gcc4.4.5")
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2014-07-30 17:57:21 -07:00
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add_definitions(${CONNEXT_DEFINITIONS})
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add_library(ros_dds_connext_dynamic SHARED src/functions.cpp)
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target_link_libraries(ros_dds_connext_dynamic ${std_msgs_LIBRARIES} ${CONNEXT_LIBRARIES})
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install(
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TARGETS ros_dds_connext_dynamic
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LIBRARY DESTINATION lib
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ARCHIVE DESTINATION lib
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)
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