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1 | | -cmake_minimum_required(VERSION 2.8.3) |
2 | | -project(chatter_listener) |
3 | | - |
4 | | -## Compile as C++11, supported in ROS Kinetic and newer |
5 | | -# add_compile_options(-std=c++11) |
6 | | - |
7 | | -## Find catkin macros and libraries |
8 | | -## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) |
9 | | -## is used, also find other catkin packages |
10 | | -find_package(catkin REQUIRED COMPONENTS |
11 | | - roscpp |
12 | | - rospy |
13 | | - std_msgs |
14 | | - urdf |
15 | | - controller_manager |
16 | | - joint_state_controller |
17 | | - robot_state_publisher |
18 | | -) |
19 | | - |
20 | | -## System dependencies are found with CMake's conventions |
21 | | -# find_package(Boost REQUIRED COMPONENTS system) |
22 | | - |
23 | | - |
24 | | -## Uncomment this if the package has a setup.py. This macro ensures |
25 | | -## modules and global scripts declared therein get installed |
26 | | -## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html |
27 | | -# catkin_python_setup() |
28 | | - |
29 | | -################################################ |
30 | | -## Declare ROS messages, services and actions ## |
31 | | -################################################ |
32 | | - |
33 | | -## To declare and build messages, services or actions from within this |
34 | | -## package, follow these steps: |
35 | | -## * Let MSG_DEP_SET be the set of packages whose message types you use in |
36 | | -## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). |
37 | | -## * In the file package.xml: |
38 | | -## * add a build_depend tag for "message_generation" |
39 | | -## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET |
40 | | -## * If MSG_DEP_SET isn't empty the following dependency has been pulled in |
41 | | -## but can be declared for certainty nonetheless: |
42 | | -## * add a exec_depend tag for "message_runtime" |
43 | | -## * In this file (CMakeLists.txt): |
44 | | -## * add "message_generation" and every package in MSG_DEP_SET to |
45 | | -## find_package(catkin REQUIRED COMPONENTS ...) |
46 | | -## * add "message_runtime" and every package in MSG_DEP_SET to |
47 | | -## catkin_package(CATKIN_DEPENDS ...) |
48 | | -## * uncomment the add_*_files sections below as needed |
49 | | -## and list every .msg/.srv/.action file to be processed |
50 | | -## * uncomment the generate_messages entry below |
51 | | -## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) |
52 | | - |
53 | | -## Generate messages in the 'msg' folder |
54 | | -# add_message_files( |
55 | | -# FILES |
56 | | -# Message1.msg |
57 | | -# Message2.msg |
58 | | -# ) |
59 | | - |
60 | | -## Generate services in the 'srv' folder |
61 | | -# add_service_files( |
62 | | -# FILES |
63 | | -# Service1.srv |
64 | | -# Service2.srv |
65 | | -# ) |
66 | | - |
67 | | -## Generate actions in the 'action' folder |
68 | | -# add_action_files( |
69 | | -# FILES |
70 | | -# Action1.action |
71 | | -# Action2.action |
72 | | -# ) |
73 | | - |
74 | | -## Generate added messages and services with any dependencies listed here |
75 | | -# generate_messages( |
76 | | -# DEPENDENCIES |
77 | | -# std_msgs |
78 | | -# ) |
79 | | - |
80 | | -################################################ |
81 | | -## Declare ROS dynamic reconfigure parameters ## |
82 | | -################################################ |
83 | | - |
84 | | -## To declare and build dynamic reconfigure parameters within this |
85 | | -## package, follow these steps: |
86 | | -## * In the file package.xml: |
87 | | -## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" |
88 | | -## * In this file (CMakeLists.txt): |
89 | | -## * add "dynamic_reconfigure" to |
90 | | -## find_package(catkin REQUIRED COMPONENTS ...) |
91 | | -## * uncomment the "generate_dynamic_reconfigure_options" section below |
92 | | -## and list every .cfg file to be processed |
93 | | - |
94 | | -## Generate dynamic reconfigure parameters in the 'cfg' folder |
95 | | -# generate_dynamic_reconfigure_options( |
96 | | -# cfg/DynReconf1.cfg |
97 | | -# cfg/DynReconf2.cfg |
98 | | -# ) |
99 | | - |
100 | | -################################### |
101 | | -## catkin specific configuration ## |
102 | | -################################### |
103 | | -## The catkin_package macro generates cmake config files for your package |
104 | | -## Declare things to be passed to dependent projects |
105 | | -## INCLUDE_DIRS: uncomment this if your package contains header files |
106 | | -## LIBRARIES: libraries you create in this project that dependent projects also need |
107 | | -## CATKIN_DEPENDS: catkin_packages dependent projects also need |
108 | | -## DEPENDS: system dependencies of this project that dependent projects also need |
109 | | -catkin_package( |
110 | | -# INCLUDE_DIRS include |
111 | | -# LIBRARIES chatter_listener |
112 | | -# CATKIN_DEPENDS roscpp rospy std_msgs |
113 | | -# DEPENDS system_lib |
114 | | -) |
115 | | - |
116 | | -########### |
117 | | -## Build ## |
118 | | -########### |
119 | | - |
120 | | -## Specify additional locations of header files |
121 | | -## Your package locations should be listed before other locations |
122 | | -include_directories( |
123 | | -# include |
124 | | - ${catkin_INCLUDE_DIRS} |
125 | | -) |
126 | | - |
127 | | -## Declare a C++ library |
128 | | -# add_library(${PROJECT_NAME} |
129 | | -# src/${PROJECT_NAME}/chatter_listener.cpp |
130 | | -# ) |
131 | | - |
132 | | -## Add cmake target dependencies of the library |
133 | | -## as an example, code may need to be generated before libraries |
134 | | -## either from message generation or dynamic reconfigure |
135 | | -# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) |
136 | | - |
137 | | -## Declare a C++ executable |
138 | | -## With catkin_make all packages are built within a single CMake context |
139 | | -## The recommended prefix ensures that target names across packages don't collide |
140 | | -# add_executable(${PROJECT_NAME}_node src/chatter_listener_node.cpp) |
141 | | - |
142 | | -## Rename C++ executable without prefix |
143 | | -## The above recommended prefix causes long target names, the following renames the |
144 | | -## target back to the shorter version for ease of user use |
145 | | -## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" |
146 | | -# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") |
147 | | - |
148 | | -## Add cmake target dependencies of the executable |
149 | | -## same as for the library above |
150 | | -# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) |
151 | | - |
152 | | -## Specify libraries to link a library or executable target against |
153 | | -# target_link_libraries(${PROJECT_NAME}_node |
154 | | -# ${catkin_LIBRARIES} |
155 | | -# ) |
156 | | - |
157 | | -############# |
158 | | -## Install ## |
159 | | -############# |
160 | | - |
161 | | -# all install targets should use catkin DESTINATION variables |
162 | | -# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html |
163 | | - |
164 | | -## Mark executable scripts (Python etc.) for installation |
165 | | -## in contrast to setup.py, you can choose the destination |
166 | | -# install(PROGRAMS |
167 | | -# scripts/my_python_script |
168 | | -# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} |
169 | | -# ) |
170 | | - |
171 | | -## Mark executables for installation |
172 | | -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html |
173 | | -# install(TARGETS ${PROJECT_NAME}_node |
174 | | -# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} |
175 | | -# ) |
176 | | - |
177 | | -## Mark libraries for installation |
178 | | -## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html |
179 | | -# install(TARGETS ${PROJECT_NAME} |
180 | | -# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} |
181 | | -# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} |
182 | | -# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} |
183 | | -# ) |
184 | | - |
185 | | -## Mark cpp header files for installation |
186 | | -# install(DIRECTORY include/${PROJECT_NAME}/ |
187 | | -# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} |
188 | | -# FILES_MATCHING PATTERN "*.h" |
189 | | -# PATTERN ".svn" EXCLUDE |
190 | | -# ) |
191 | | - |
192 | | -## Mark other files for installation (e.g. launch and bag files, etc.) |
193 | | -# install(FILES |
194 | | -# # myfile1 |
195 | | -# # myfile2 |
196 | | -# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} |
197 | | -# ) |
198 | | - |
199 | | -############# |
200 | | -## Testing ## |
201 | | -############# |
202 | | - |
203 | | -## Add gtest based cpp test target and link libraries |
204 | | -# catkin_add_gtest(${PROJECT_NAME}-test test/chatter_listener.cpp) |
205 | | -# if(TARGET ${PROJECT_NAME}-test) |
206 | | -# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) |
207 | | -# endif() |
208 | | - |
209 | | -## Add folders to be run by python nosetests |
210 | | -# catkin_add_nosetests(test) |
| 1 | +cmake_minimum_required(VERSION 3.8) |
| 2 | +project(multiple_chatter_listener) |
| 3 | + |
| 4 | +if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") |
| 5 | + add_compile_options(-Wall -Wextra -Wpedantic) |
| 6 | +endif() |
| 7 | + |
| 8 | +# find dependencies |
| 9 | +find_package(ament_cmake REQUIRED) |
| 10 | +find_package(rclcpp REQUIRED) |
| 11 | +find_package(std_msgs REQUIRED) |
| 12 | +find_package(geometry_msgs REQUIRED) |
| 13 | +# uncomment the following section in order to fill in |
| 14 | +# further dependencies manually. |
| 15 | +# find_package(<dependency> REQUIRED) |
| 16 | +add_executable(talk src/multi_publisher.cpp) |
| 17 | +ament_target_dependencies(talk rclcpp std_msgs geometry_msgs) |
| 18 | + |
| 19 | +add_executable(listen src/multi_subscriber.cpp) |
| 20 | +ament_target_dependencies(listen rclcpp std_msgs geometry_msgs) |
| 21 | + |
| 22 | +install(TARGETS |
| 23 | + talk |
| 24 | + listen |
| 25 | + DESTINATION lib/${PROJECT_NAME}) |
| 26 | + |
| 27 | +if(BUILD_TESTING) |
| 28 | + find_package(ament_lint_auto REQUIRED) |
| 29 | + # the following line skips the linter which checks for copyrights |
| 30 | + # comment the line when a copyright and license is added to all source files |
| 31 | + set(ament_cmake_copyright_FOUND TRUE) |
| 32 | + # the following line skips cpplint (only works in a git repo) |
| 33 | + # comment the line when this package is in a git repo and when |
| 34 | + # a copyright and license is added to all source files |
| 35 | + set(ament_cmake_cpplint_FOUND TRUE) |
| 36 | + ament_lint_auto_find_test_dependencies() |
| 37 | +endif() |
| 38 | + |
| 39 | +ament_package() |
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