CMakeLists.txt

cmake_minimum_required(VERSION 3.8)
project(xcub_ros2_controllers)

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(ament_cmake_ros REQUIRED)
find_package(rclcpp REQUIRED)
find_package(control_msgs REQUIRED)
find_package(lifecycle_msgs REQUIRED)
find_package(pluginlib REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(rcpputils REQUIRED)
find_package(rcutils REQUIRED)
find_package(hardware_interface REQUIRED)
find_package(yarp_control_msgs REQUIRED)
# find_package(controller_manager REQUIRED)

add_library(${PROJECT_NAME} SHARED src/robot_controller.cpp)
target_compile_features(${PROJECT_NAME} PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
target_include_directories(
  ${PROJECT_NAME}
  PRIVATE
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
)
ament_target_dependencies(
  ${PROJECT_NAME}
  hardware_interface
  pluginlib
  rclcpp
  rclcpp_lifecycle
  lifecycle_msgs
  control_msgs
  rcpputils
  rcutils
  yarp_control_msgs
  # controller_manager
)

# Causes the visibility macros to use dllexport rather than dllimport,
# which is appropriate when building the dll but not consuming it.
target_compile_definitions(${PROJECT_NAME} PRIVATE "ROBOT_CONTROLLER_BUILDING_LIBRARY")

#target_compile_definitions(${PROJECT_NAME} PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
pluginlib_export_plugin_description_file(hardware_interface ${PROJECT_NAME}.xml)

install(
  TARGETS ${PROJECT_NAME}
  DESTINATION lib
  EXPORT export_${PROJECT_NAME}
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

install(
  DIRECTORY include/
  DESTINATION include
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  find_package(ament_cmake_gmock REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_export_include_directories(
  include
)

ament_export_libraries(
  ${PROJECT_NAME}
)

ament_export_targets(
 export_${PROJECT_NAME}
)

ament_export_dependencies(
  ament_cmake_gmock
  hardware_interface
  pluginlib
  rclcpp
  rclcpp_lifecycle
)

ament_package()