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Fix linker error to gst_base_sink_get_type #26

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merged 1 commit into from
May 30, 2022
Merged

Fix linker error to gst_base_sink_get_type #26

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25 changes: 13 additions & 12 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.5)
cmake_minimum_required(VERSION 3.6)

project(gscam2)

Expand Down Expand Up @@ -27,9 +27,9 @@ if($ENV{CLION_IDE})
endif()

# Gstreamer doesn't provide CMake files
find_package(PkgConfig)
pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0)
pkg_check_modules(GST_APP REQUIRED gstreamer-app-1.0)
find_package(PkgConfig REQUIRED)
pkg_check_modules(GSTREAMER REQUIRED gstreamer-1.0 IMPORTED_TARGET)
pkg_check_modules(GST_APP REQUIRED gstreamer-app-1.0 IMPORTED_TARGET)

find_package(ament_cmake REQUIRED)
find_package(camera_calibration_parsers REQUIRED)
Expand All @@ -50,28 +50,28 @@ set(node_plugins "")
# GSCam node
#=============

set(GSCAM_NODE_SOURCES
src/gscam_node.cpp)

set(GSCAM_NODE_DEPS
camera_calibration_parsers
camera_info_manager
class_loader
GST_APP
rclcpp
rclcpp_components
ros2_shared
sensor_msgs)

add_library(gscam_node SHARED
${GSCAM_NODE_SOURCES})
add_library(gscam_node SHARED)
target_sources(gscam_node PRIVATE src/gscam_node.cpp)
add_library(gscam2::gscam_node ALIAS gscam_node)

target_compile_definitions(gscam_node
PRIVATE "COMPOSITION_BUILDING_DLL")

ament_target_dependencies(gscam_node
${GSCAM_NODE_DEPS})

target_link_libraries(gscam_node PkgConfig::GSTREAMER PkgConfig::GST_APP)
target_include_directories(gscam_node PUBLIC
"$<BUILD_INTERFACE:${GSTREAMER_INCLUDE_DIRS}>")
rclcpp_components_register_nodes(gscam_node "gscam2::GSCamNode")
set(node_plugins "${node_plugins}gscam2::GSCamNode;$<TARGET_FILE:gscam_node>\n")

Expand Down Expand Up @@ -105,12 +105,13 @@ set(node_plugins "${node_plugins}gscam2::ImageSubscriberNode;$<TARGET_FILE:subsc
#=============

add_executable(gscam_main
src/gscam_main.cpp
${GSCAM_NODE_SOURCES})
src/gscam_main.cpp)

ament_target_dependencies(gscam_main
${GSCAM_NODE_DEPS})

target_link_libraries(gscam_main gscam2::gscam_node)

#=============
# Manual composition of camera and subscriber nodes, IPC=true
#=============
Expand Down