cmake_minimum_required(VERSION 3.5) project(rclcpp_lifecycle) # 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 -Wnon-virtual-dtor -Woverloaded-virtual) endif() find_package(ament_cmake_ros REQUIRED) find_package(rclcpp REQUIRED) find_package(rcl_lifecycle REQUIRED) find_package(rosidl_typesupport_cpp REQUIRED) find_package(lifecycle_msgs REQUIRED) ### CPP High level library add_library(rclcpp_lifecycle src/lifecycle_node.cpp src/node_interfaces/lifecycle_node_interface.cpp src/state.cpp src/transition.cpp ) target_include_directories(${PROJECT_NAME} PUBLIC "$" "$") # specific order: dependents before dependencies ament_target_dependencies(rclcpp_lifecycle "rclcpp" "rcl_lifecycle" "lifecycle_msgs" "rosidl_typesupport_cpp" ) # Causes the visibility macros to use dllexport rather than dllimport, # which is appropriate when building the dll but not consuming it. target_compile_definitions(rclcpp_lifecycle PRIVATE "RCLCPP_LIFECYCLE_BUILDING_DLL") install(TARGETS rclcpp_lifecycle EXPORT rclcpp_lifecycle ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION bin) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) # Give cppcheck hints about macro definitions coming from outside this package set(ament_cmake_cppcheck_ADDITIONAL_INCLUDE_DIRS ${rclcpp_INCLUDE_DIRS}) ament_lint_auto_find_test_dependencies() ament_add_gtest(test_lifecycle_node test/test_lifecycle_node.cpp) if(TARGET test_lifecycle_node) ament_target_dependencies(test_lifecycle_node "rcl_lifecycle" "rclcpp" "rcutils" ) target_link_libraries(test_lifecycle_node ${PROJECT_NAME} mimick) endif() ament_add_gtest(test_lifecycle_publisher test/test_lifecycle_publisher.cpp) if(TARGET test_lifecycle_publisher) ament_target_dependencies(test_lifecycle_publisher "rcl_lifecycle" "rclcpp" "test_msgs" ) target_link_libraries(test_lifecycle_publisher ${PROJECT_NAME}) endif() ament_add_gtest(test_lifecycle_service_client test/test_lifecycle_service_client.cpp) if(TARGET test_lifecycle_service_client) ament_target_dependencies(test_lifecycle_service_client "rcl_lifecycle" "rclcpp" "rcutils" ) target_link_libraries(test_lifecycle_service_client ${PROJECT_NAME} mimick) endif() ament_add_gtest(test_state_machine_info test/test_state_machine_info.cpp) if(TARGET test_state_machine_info) ament_target_dependencies(test_state_machine_info "rcl_lifecycle" "rclcpp" ) target_link_libraries(test_state_machine_info ${PROJECT_NAME}) endif() ament_add_gtest(test_register_custom_callbacks test/test_register_custom_callbacks.cpp) if(TARGET test_register_custom_callbacks) ament_target_dependencies(test_register_custom_callbacks "rcl_lifecycle" "rclcpp" ) target_link_libraries(test_register_custom_callbacks ${PROJECT_NAME}) endif() ament_add_gtest(test_callback_exceptions test/test_callback_exceptions.cpp) if(TARGET test_callback_exceptions) ament_target_dependencies(test_callback_exceptions "rcl_lifecycle" "rclcpp" ) target_link_libraries(test_callback_exceptions ${PROJECT_NAME}) endif() ament_add_gtest(test_state_wrapper test/test_state_wrapper.cpp) if(TARGET test_state_wrapper) ament_target_dependencies(test_state_wrapper "rcl_lifecycle" "rclcpp" ) target_link_libraries(test_state_wrapper ${PROJECT_NAME}) endif() ament_add_gtest(test_transition_wrapper test/test_transition_wrapper.cpp) if(TARGET test_transition_wrapper) ament_target_dependencies(test_transition_wrapper "rcl_lifecycle" "rclcpp" "rcutils" ) target_link_libraries(test_transition_wrapper ${PROJECT_NAME} mimick) target_compile_definitions(test_transition_wrapper PUBLIC RCUTILS_ENABLE_FAULT_INJECTION ) endif() endif() # specific order: dependents before dependencies ament_export_include_directories(include) ament_export_libraries(${PROJECT_NAME}) ament_export_targets(${PROJECT_NAME}) ament_export_dependencies(rclcpp) ament_export_dependencies(rcl_lifecycle) ament_export_dependencies(lifecycle_msgs) ament_package() install(DIRECTORY include/ DESTINATION include)