c9a23a9b8a
The changes in this commit make it compile with ROS2 Crystal Clemmys and current Cyclone DDS. The RMW interface of ROS2 was modified in some ways and extended in some other ways since Bouncy Bolson; and similarly, Cyclone now has a somewhat reasonable interface for custom sample representations and serialization, but the code in this commit probably contains mistakes in using it. Therefore, the expectation should be that this doesn't actually work just yet, though it probably is quite close. As the old state wouldn't build at all with any version of Cyclone DDS except the early commits, this is significant progress already.
102 lines
2.7 KiB
CMake
102 lines
2.7 KiB
CMake
# Copyright 2018 ADLINK Technology Limited.
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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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cmake_minimum_required(VERSION 3.5)
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project(rmw_cyclonedds_cpp)
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link_directories(/usr/local/lib)
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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find_package(ament_cmake_ros REQUIRED)
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find_package(rcutils REQUIRED)
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find_package(cyclonedds_cmake_module REQUIRED)
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find_package(CycloneDDS REQUIRED CONFIG)
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find_package(rmw REQUIRED)
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find_package(rosidl_generator_c REQUIRED)
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find_package(rosidl_typesupport_introspection_c REQUIRED)
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find_package(rosidl_typesupport_introspection_cpp REQUIRED)
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ament_export_dependencies(rcutils)
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ament_export_dependencies(rmw)
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ament_export_dependencies(rosidl_generator_c)
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ament_export_dependencies(rosidl_typesupport_introspection_c)
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ament_export_dependencies(rosidl_typesupport_introspection_cpp)
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include_directories(include)
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###??
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add_library(rmw_cyclonedds_cpp
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src/namespace_prefix.cpp
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src/rmw_node.cpp
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src/serdata.cpp
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src/serdes.cpp
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)
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target_link_libraries(rmw_cyclonedds_cpp CycloneDDS::ddsc)
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ament_target_dependencies(rmw_cyclonedds_cpp
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"rcutils"
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"rosidl_typesupport_introspection_c"
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"rosidl_typesupport_introspection_cpp"
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"rmw"
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"rosidl_generator_c"
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)
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configure_rmw_library(rmw_cyclonedds_cpp)
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# Causes the visibility macros to use dllexport rather than dllimport,
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# which is appropriate when building the dll but not consuming it.
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target_compile_definitions(${PROJECT_NAME}
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PRIVATE "RMW_CYCLONEDDS_CPP_BUILDING_LIBRARY")
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ament_export_include_directories(include)
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ament_export_libraries(rmw_cyclonedds_cpp)
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register_rmw_implementation(
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"c:rosidl_typesupport_c:rosidl_typesupport_introspection_c"
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"cpp:rosidl_typesupport_cpp:rosidl_typesupport_introspection_cpp")
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package(
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CONFIG_EXTRAS "rmw_cyclonedds_cpp-extras.cmake"
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)
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install(
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DIRECTORY include/
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DESTINATION include
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)
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install(
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TARGETS rmw_cyclonedds_cpp
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin
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)
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