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Cmake infrastructure for creating components (#784)

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*cmake macro to create components for libraries with multiple nodes

Signed-off-by: Siddharth Kucheria <kucheria@usc.edu>
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Siddharth Kucheria 2019-07-24 09:15:37 -07:00 • committed by GitHub
parent cd063575ff
commit b214324bf2
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4 changed files with 127 additions and 2 deletions
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rclcpp_components/cmake/rclcpp_components_register_node.cmake Normal file
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# Copyright 2019 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
#
# usage: rclcpp_components_register_node(
# <target> PLUGIN <component> EXECUTABLE <node>)
#
# Register an rclcpp component with the ament
# resource index and create an executable.
#
# :param target: the shared library target
# :type target: string
# :param PLUGIN: the plugin name
# :type PLUGIN: string
# :type EXECUTABLE: the node's executable name
# :type EXECUTABLE: string
#
macro(rclcpp_components_register_node target)
cmake_parse_arguments(ARGS "" "PLUGIN;EXECUTABLE" "" ${ARGN})
set(component ${ARGS_PLUGIN})
set(node ${ARGS_EXECUTABLE})
_rclcpp_components_register_package_hook()
set(_path "lib")
set(library_name "$<TARGET_FILE_NAME:${target}>")
if(WIN32)
set(_path "bin")
endif()
set(_RCLCPP_COMPONENTS__NODES
"${_RCLCPP_COMPONENTS__NODES}${component};${_path}/$<TARGET_FILE_NAME:${target}>\n")
configure_file(${rclcpp_components_NODE_TEMPLATE}
${PROJECT_BINARY_DIR}/node_main_configured.cpp.in)
file(GENERATE OUTPUT ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_${node}.cpp
INPUT ${PROJECT_BINARY_DIR}/node_main_configured.cpp.in)
add_executable(${node} ${PROJECT_BINARY_DIR}/rclcpp_components/node_main_${node}.cpp)
ament_target_dependencies(${node}
"rclcpp"
"class_loader"
"rclcpp_components")
install(TARGETS
${node}
DESTINATION lib/${PROJECT_NAME})
endmacro()