61 lines
1.3 KiB
CMake
61 lines
1.3 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(amadeus_26)
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# 使用 C++17
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# 导出 compile_commands.json 给 clangd 使用
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set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
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# 查找依赖
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(std_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(Eigen3 REQUIRED)
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# 添加 SDK 库路径
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set(TRANSMITTER_SDK_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib/transmitter_sdk)
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link_directories(${TRANSMITTER_SDK_PATH}/lib/linux/x64)
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# 包含目录
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include_directories(
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${CMAKE_CURRENT_SOURCE_DIR}
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${TRANSMITTER_SDK_PATH}/inc
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)
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# ==================== UART 节点 ====================
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add_executable(uart_transmitter_node src/uart_transmitter_node.cpp)
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ament_target_dependencies(uart_transmitter_node
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rclcpp
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std_msgs
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)
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# ==================== IMU 节点 ====================
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add_executable(imu_receiver_node src/imu_receiver_node.cpp)
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ament_target_dependencies(imu_receiver_node
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rclcpp
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std_msgs
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geometry_msgs
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sensor_msgs
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Eigen3
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)
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# ==================== 安装目标 ====================
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install(TARGETS
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uart_transmitter_node
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imu_receiver_node
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DESTINATION lib/${PROJECT_NAME}
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)
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# 安装 launch 文件
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install(DIRECTORY launch
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DESTINATION share/${PROJECT_NAME}
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OPTIONAL
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)
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ament_package() |