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CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(collision_object_manager)
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(moveit_ros_planning_interface REQUIRED)
find_package(std_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(moveit_visual_tools REQUIRED)
find_package(arc_interfaces REQUIRED)
find_package(eigen3_cmake_module REQUIRED)
find_package (Eigen3 3.3 REQUIRED)
add_executable(${PROJECT_NAME}_main src/main.cpp
src/collision_object_manager.cpp
src/human_skeleton.cpp
src/ros_timer.cpp
src/collision_object.cpp
src/moveit_pose_interface.cpp)
target_include_directories(${PROJECT_NAME}_main PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
"${Eigen3_INCLUDE_DIRS}")
target_compile_features(${PROJECT_NAME}_main PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
ament_target_dependencies(
${PROJECT_NAME}_main
"rclcpp"
"moveit_ros_planning_interface"
"std_msgs"
"sensor_msgs"
"geometry_msgs"
"moveit_visual_tools"
"arc_interfaces"
"Eigen3"
)
add_executable(collision_object_test test/collision_object_test.cpp
src/collision_object_manager.cpp
src/human_skeleton.cpp
src/ros_timer.cpp
src/collision_object.cpp)
target_include_directories(collision_object_test PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_compile_features(collision_object_test PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17
ament_target_dependencies(
collision_object_test
"rclcpp"
"moveit_ros_planning_interface"
"std_msgs"
"sensor_msgs"
"geometry_msgs"
"moveit_visual_tools"
"arc_interfaces"
)
install(TARGETS ${PROJECT_NAME}_main collision_object_test
DESTINATION lib/${PROJECT_NAME})
# Install header files
install(DIRECTORY include/ DESTINATION include)
# Install launch files.
install(DIRECTORY
launch
DESTINATION share/${PROJECT_NAME}/
)
# Add this after your main executable
if(BUILD_TESTING)
# Include Google Test for ROS 2
find_package(ament_cmake_gtest REQUIRED)
# Add your test file
ament_add_gtest(${PROJECT_NAME}_test test/test_human_skeleton.cpp
src/human_skeleton.cpp) # Include the source file you want to test
target_include_directories(${PROJECT_NAME}_test PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
"${Eigen3_INCLUDE_DIRS}")
target_compile_features(${PROJECT_NAME}_test PUBLIC c_std_99 cxx_std_17)
ament_target_dependencies(
${PROJECT_NAME}_test
"rclcpp"
"moveit_ros_planning_interface"
"std_msgs"
"geometry_msgs"
"sensor_msgs"
"moveit_visual_tools"
"arc_interfaces"
"Eigen3"
)
endif()
if(BUILD_TESTING)
find_package(ament_cmake_gtest REQUIRED)
ament_add_gtest(timer_test test/timer_test.cpp src/ros_timer.cpp)
target_include_directories(timer_test PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
ament_target_dependencies(timer_test
"rclcpp"
)
target_link_libraries(timer_test gtest gtest_main)
endif()
ament_package()