56 lines
1.2 KiB
CMake
56 lines
1.2 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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# 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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# 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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# 创建可执行文件
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add_executable(transmitter_test_node src/transmitter_test_node.cpp)
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# 设置 RPATH，使可执行文件能找到共享库
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set_target_properties(transmitter_test_node PROPERTIES
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BUILD_WITH_INSTALL_RPATH FALSE
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LINK_FLAGS "-Wl,-rpath,'${TRANSMITTER_SDK_PATH}/lib/linux/x64'"
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)
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# 链接依赖
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ament_target_dependencies(transmitter_test_node
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rclcpp
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std_msgs
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)
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# 链接 SDK 库和依赖
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target_link_libraries(transmitter_test_node
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dm_device
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usb-1.0
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pthread
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)
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# 安装目标
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install(TARGETS transmitter_test_node
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DESTINATION lib/${PROJECT_NAME}
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)
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# 安装 launch 文件（如果有）
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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() |