Ros2.cmake

add_definitions(-DROS2)

# 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)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(PkgConfig REQUIRED)
find_package(rclcpp REQUIRED)
pkg_check_modules(SOEM REQUIRED IMPORTED_TARGET soem)

# add library
file(GLOB MY_SOURCES RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} src/*.cpp)
add_library(${PROJECT_NAME} STATIC ${MY_SOURCES})

# specify include paths and dependencies
target_include_directories(${PROJECT_NAME} PRIVATE src)
target_link_libraries(${PROJECT_NAME} PkgConfig::SOEM Eigen3::Eigen)
ament_target_dependencies(${PROJECT_NAME} rclcpp)

# copy public headers to destination
install(
  FILES src/PlatformDriverEthercat.h src/PlatformDriverEthercatTypes.h
  DESTINATION include
)

# install target at destination
install(
  TARGETS ${PROJECT_NAME}
  LIBRARY DESTINATION lib
  ARCHIVE DESTINATION lib
  RUNTIME DESTINATION bin
  INCLUDES DESTINATION include
)

# export information for upstream packages
ament_export_libraries(${PROJECT_NAME})
ament_export_include_directories(include)
ament_export_dependencies(Eigen3)

ament_package()