0f25f714fe
* Introduce rclcpp_components package Signed-off-by: Michael Carroll <michael@openrobotics.org> * Keep pointer to NodeWrapper vs NodeInterface. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Remove component registration from rclcpp Signed-off-by: Michael Carroll <michael@openrobotics.org> * Make topics names private-prefix. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Handle name and namespace with remap rules. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Linting. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Address reviewer feedback. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Change to smart pointers for managing memory. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Update to use rcpputils filesystem/split. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Address reviewer feedback and add docs. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Add tests around ComponentManager. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Lint. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Address reviewer feedback and add overflow check. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Fix CI. Signed-off-by: Michael Carroll <michael@openrobotics.org>
62 lines
2 KiB
CMake
62 lines
2 KiB
CMake
# Copyright 2019 Open Source Robotics Foundation, Inc.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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#
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# Register an rclcpp component with the ament resource index.
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#
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# The passed library can contain multiple nodes each registered via macro.
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#
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# :param target: the shared library target
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# :type target: string
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# :param ARGN: the unique plugin names being exported using class_loader
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# :type ARGN: list of strings
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#
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macro(rclcpp_components_register_nodes target)
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if(NOT TARGET ${target})
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message(
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FATAL_ERROR
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"rclcpp_components_register_nodes() first argument "
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"'${target}' is not a target")
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endif()
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get_target_property(_target_type ${target} TYPE)
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if(NOT _target_type STREQUAL "SHARED_LIBRARY")
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message(
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FATAL_ERROR
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"rclcpp_components_register_nodes() first argument "
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"'${target}' is not a shared library target")
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endif()
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if(${ARGC} GREATER 0)
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_rclcpp_components_register_package_hook()
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set(_unique_names)
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foreach(_arg ${ARGN})
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if(_arg IN_LIST _unique_names)
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message(
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FATAL_ERROR
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"rclcpp_components_register_nodes() the plugin names "
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"must be unique (multiple '${_arg}')")
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endif()
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list(APPEND _unique_names "${_arg}")
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if(WIN32)
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set(_path "bin")
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else()
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set(_path "lib")
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endif()
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set(_RCLCPP_COMPONENTS__NODES
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"${_RCLCPP_COMPONENTS__NODES}${_arg};${_path}/$<TARGET_FILE_NAME:${target}>\n")
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endforeach()
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endif()
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endmacro()
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