network_bridge/CMakeLists.txt at main · brow1633/network_bridge · GitHub

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cmake_minimum_required(VERSION 3.8)
project(network_bridge)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# Set C++20
set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(pluginlib REQUIRED)
find_package(Boost REQUIRED COMPONENTS system)
find_package(PkgConfig REQUIRED)
pkg_check_modules(ZSTD REQUIRED libzstd)

if(BUILD_TESTING)
  find_package(launch_testing_ament_cmake REQUIRED)
  find_package(ament_lint_auto REQUIRED)
  set(ament_cmake_copyright_FOUND TRUE)
  set(ament_cmake_cpplint_FOUND TRUE)
  set(ament_cmake_flake8_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()

  add_launch_test(
    test/test_udp.py
    TIMEOUT 2  # Sets a timeout for the test in seconds
  )
  add_launch_test(
    test/test_tcp.py
    TIMEOUT 2  # Sets a timeout for the test in seconds
  )
endif()

include_directories(include)

add_executable(network_bridge
    src/network_bridge.cpp
    src/subscription_manager.cpp
    src/subscription_manager_tf.cpp
)

add_library(udp_interface SHARED
  src/network_interfaces/udp_interface.cpp
)

add_library(tcp_interface SHARED
  src/network_interfaces/tcp_interface.cpp
)

target_link_libraries(network_bridge PUBLIC
  ${std_msgs_TARGETS}
  ${tf2_msgs_TARGETS}
  pluginlib::pluginlib
  rclcpp::rclcpp
  tf2_ros::tf2_ros
  ${ZSTD_LIBRARIES}
)

target_link_libraries(udp_interface PUBLIC
  pluginlib::pluginlib
  rclcpp::rclcpp
  ${Boost_LIBRARIES}
)

target_link_libraries(tcp_interface PUBLIC
  pluginlib::pluginlib
  rclcpp::rclcpp
  ${Boost_LIBRARIES}
)

pluginlib_export_plugin_description_file(network_bridge network_interface_plugins.xml)

install(TARGETS
  network_bridge
  DESTINATION lib/${PROJECT_NAME}
)

install(TARGETS
  udp_interface
  tcp_interface
  DESTINATION lib/
)

install(DIRECTORY
  config
  launch
  DESTINATION share/${PROJECT_NAME}
)

ament_package()