ros2-performance/composition_benchmark/CMakeLists.txt at ebd1cb224b6a18aac8de252d95366406d806d080 · ahcorde/ros2-performance · GitHub

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cmake_minimum_required(VERSION 3.5)
project(composition_benchmark)

# 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")
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic")
endif()

find_package(ament_cmake REQUIRED)
find_package(irobot_interfaces_plugin REQUIRED)
find_package(performance_metrics REQUIRED)
find_package(performance_test REQUIRED)
find_package(performance_test_factory REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)

add_library(composable_node SHARED
  src/composable_node.cpp
)
target_link_libraries(composable_node PUBLIC
  rclcpp::rclcpp
  rclcpp_components::component
  ${performance_test_LIBRARIES}
)
target_include_directories(composable_node PUBLIC
  include
  ${performance_test_INCLUDE_DIRS}
)
rclcpp_components_register_nodes(composable_node "ComposableNode")

add_library(composable_publisher SHARED
  src/composable_publisher.cpp
)
target_link_libraries(composable_publisher PUBLIC
  ${irobot_interfaces_plugin_TARGETS}
  rclcpp::rclcpp
  rclcpp_components::component
  rclcpp_components::component_manager
  ${performance_test_LIBRARIES}
)
target_include_directories(composable_publisher
  PUBLIC
  include
  ${performance_test_INCLUDE_DIRS}
)
rclcpp_components_register_nodes(composable_publisher "ComposablePublisher")

add_library(composable_subscriber SHARED
  src/composable_subscriber.cpp
)
target_link_libraries(composable_subscriber PUBLIC
  ${irobot_interfaces_plugin_TARGETS}
  rclcpp::rclcpp
  rclcpp_components::component
  rclcpp_components::component_manager
  ${performance_test_LIBRARIES}
  ${performance_metrics_LIBRARIES}
)
target_include_directories(composable_subscriber
  PUBLIC
  include
  ${performance_test_INCLUDE_DIRS}
  ${performance_metrics_INCLUDE_DIRS}
)
rclcpp_components_register_nodes(composable_subscriber "ComposableSubscriber")

add_library(base_node SHARED
  src/base_node.cpp
)
target_link_libraries(base_node PUBLIC
  rclcpp::rclcpp
  rclcpp_components::component
  rclcpp_components::component_manager
  ${performance_test_LIBRARIES}
  ${performance_metrics_LIBRARIES}
)
target_include_directories(base_node
  PUBLIC
  include
  ${performance_test_INCLUDE_DIRS}
  ${performance_metrics_INCLUDE_DIRS}
)

add_subdirectory(apps)

install(TARGETS
  base_node
  composable_node
  composable_publisher
  composable_subscriber
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION lib/${PROJECT_NAME}
)

ament_export_include_directories(include)
ament_export_libraries(composable_node)
ament_export_dependencies(rclcpp rclcpp_components performance_test)

ament_package()