-
Notifications
You must be signed in to change notification settings - Fork 1
/
CMakeLists.txt
90 lines (70 loc) · 3.11 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
cmake_minimum_required(VERSION 3.16...3.22)
project(ROBOTICSLAB_CARTESIAN_CONTROL LANGUAGES CXX)
# Let the user specify a configuration (only single-config generators).
if(NOT CMAKE_CONFIGURATION_TYPES)
# Possible values.
set(_configurations Debug Release MinSizeRel RelWithDebInfo)
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${_configurations})
foreach(_conf ${_configurations})
set(_conf_string "${_conf_string} ${_conf}")
endforeach()
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY HELPSTRING
"Choose the type of build, options are:${_conf_string}")
if(NOT CMAKE_BUILD_TYPE)
# Encourage the user to specify build type.
message(STATUS "Setting build type to 'Release' as none was specified.")
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY VALUE Release)
endif()
endif()
# Hard dependencies.
find_package(YCM 0.11 REQUIRED)
find_package(YARP 3.8 REQUIRED COMPONENTS os dev sig
OPTIONAL_COMPONENTS math)
find_package(rclcpp REQUIRED)
find_package(geometry_msgs REQUIRED)
#find_package(yarp_control_msgs REQUIRED)
find_package(ROBOTICSLAB_KINEMATICS_DYNAMICS REQUIRED)
find_package(orocos_kdl 1.4 REQUIRED)
# Soft dependencies.
# find_package(GTestSources 1.8 QUIET)
find_package(Doxygen QUIET)
# Always build YARP devices as MODULE libraries.
set(YARP_FORCE_DYNAMIC_PLUGINS TRUE CACHE INTERNAL "Force dynamic plugins")
# Configure installation paths for YARP resources.
yarp_configure_external_installation(roboticslab-cartesian-control WITH_PLUGINS)
# Standard installation directories.
include(GNUInstallDirs)
# Control where libraries and executables are placed during the build.
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_BINDIR})
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_INSTALL_LIBDIR})
# Create targets if specific requirements are satisfied.
include(CMakeDependentOption)
# Acknowledge this is a CTest-friendly project.
enable_testing()
# Add main contents.
add_subdirectory(libraries)
# add_subdirectory(programs)
# add_subdirectory(tests)
# add_subdirectory(share)
# add_subdirectory(bindings)
# add_subdirectory(doc)
# add_subdirectory(examples/cpp)
# # Collect public exported dependencies.
# get_property(_exported_dependencies GLOBAL PROPERTY _exported_dependencies)
# if(DEFINED _exported_dependencies)
# list(REMOVE_DUPLICATES _exported_dependencies)
# endif()
# # Store the package in the user registry.
# set(CMAKE_EXPORT_PACKAGE_REGISTRY ON)
# # Create and install config files.
# include(InstallBasicPackageFiles)
# install_basic_package_files(ROBOTICSLAB_CARTESIAN_CONTROL
# VERSION 0.1.0
# COMPATIBILITY AnyNewerVersion
# NO_SET_AND_CHECK_MACRO
# NO_CHECK_REQUIRED_COMPONENTS_MACRO
# NAMESPACE ROBOTICSLAB::
# DEPENDENCIES ${_exported_dependencies})
# Configure and create uninstall target.
include(AddUninstallTarget)