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extract decision of used middleware implementation into separate package

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This commit is contained in:
Dirk Thomas 2014-08-14 15:05:25 -07:00
parent 0559fafcd0
commit 45ee2dd2e1
7 changed files with 90 additions and 39 deletions
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4
rclcpp/CMakeLists.txt
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@ -8,9 +8,7 @@ ament_export_dependencies(ros_middleware_interface)
ament_export_include_directories(include)
ament_package(
CONFIG_EXTRAS "rclcpp-extras.cmake"
)
ament_package()
install(
DIRECTORY include/

36
rclcpp/rclcpp-extras.cmake
View file

@ -1,36 +0,0 @@
# copied from rclcpp/rclcpp-extras.cmake
ament_index_get_resources(_middleware_implementations "ros_middleware_implementation")
if("${_middleware_implementations}" STREQUAL "")
message(FATAL_ERROR "Could not find any ROS middleware implementation.")
endif()
set(_middleware_implementation "")
# option()
if(NOT "${ROS_MIDDLEWARE_IMPLEMENTATION}" STREQUAL "")
set(_middleware_implementation "${ROS_MIDDLEWARE_IMPLEMENTATION}")
elseif(NOT "$ENV{ROS_MIDDLEWARE_IMPLEMENTATION}" STREQUAL "")
set(_middleware_implementation "$ENV{ROS_MIDDLEWARE_IMPLEMENTATION}")
else()
# TODO detemine "default" implementation based on the available ones
list(GET _middleware_implementations 0 _middleware_implementation)
endif()
list(FIND _middleware_implementations "${_middleware_implementation}" _index)
if(_index EQUAL -1)
string(REPLACE ";" ", " _middleware_implementations_string "${_middleware_implementations}")
message(FATAL_ERROR "Could not find ROS middleware implementation '${_middleware_implementation}'. Choose one of the following: ${_middleware_implementations_string}")
endif()
message(STATUS "Using middleware implementation: ${_middleware_implementation}")
find_package("${_middleware_implementation}" REQUIRED)
# persist implementation decision in cache
set(
ROS_MIDDLEWARE_IMPLEMENTATION "${_middleware_implementation}"
CACHE STRING "Select ROS middleware implementation to link against" FORCE
)
list(APPEND rclcpp_DEFINITIONS ${${ROS_MIDDLEWARE_IMPLEMENTATION}_DEFINITIONS})
list(APPEND rclcpp_INCLUDE_DIRS ${${ROS_MIDDLEWARE_IMPLEMENTATION}_INCLUDE_DIRS})
list(APPEND rclcpp_LIBRARIES ${${ROS_MIDDLEWARE_IMPLEMENTATION}_LIBRARIES})