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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.5)
project(system_modes_benchmark)
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
endif()
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(rclcpp REQUIRED)
find_package(rclcpp_lifecycle REQUIRED)
find_package(system_modes REQUIRED)
find_package(system_modes_msgs REQUIRED)
set(dependencies
rclcpp
rclcpp_lifecycle
lifecycle_msgs
system_modes
system_modes_msgs
)
add_executable(nav2 src/nav2.cpp)
add_executable(manipulator src/manipulator.cpp)
add_executable(camera src/camera.cpp)
add_executable(guard src/guard.cpp)
ament_target_dependencies(nav2 ${dependencies})
ament_target_dependencies(manipulator ${dependencies})
ament_target_dependencies(camera ${dependencies})
ament_target_dependencies(guard ${dependencies})
install(FILES benchmark_modes.yaml
DESTINATION share/${PROJECT_NAME}/
)
install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}/)
install(TARGETS
nav2
manipulator
camera
guard
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib
RUNTIME DESTINATION lib/${PROJECT_NAME}
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
find_package(ament_cmake_gtest REQUIRED)
endif()
ament_package()