115 lines
3.9 KiB
CMake
Executable File
115 lines
3.9 KiB
CMake
Executable File
################################################################################
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# Set minimum required version of cmake, project name and compile options
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################################################################################
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cmake_minimum_required(VERSION 3.5)
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project(turtlebot3_gazebo)
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 17)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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if(MSVC)
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add_compile_definitions(_USE_MATH_DEFINES)
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endif()
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################################################################################
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# Find ament packages and libraries for ament and system dependencies
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################################################################################
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find_package(ament_cmake REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(nav_msgs REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(tf2 REQUIRED)
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# Gazebo Classic conflicts with gz-tools2 on many Ubuntu installs. Only probe
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# gazebo after gazebo_ros_pkgs is found, so gz-sim-only systems avoid CMake noise.
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find_package(gazebo_ros_pkgs QUIET)
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set(TURTLEBOT3_GAZEBO_CLASSIC_AVAILABLE FALSE)
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if(gazebo_ros_pkgs_FOUND)
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find_package(gazebo REQUIRED)
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set(TURTLEBOT3_GAZEBO_CLASSIC_AVAILABLE TRUE)
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endif()
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################################################################################
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# Build (optional Gazebo Classic plugins and turtlebot3_drive)
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################################################################################
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if(TURTLEBOT3_GAZEBO_CLASSIC_AVAILABLE)
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message(STATUS "turtlebot3_gazebo: building Gazebo Classic plugins and turtlebot3_drive")
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link_directories(${GAZEBO_LIBRARY_DIRS})
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include_directories(
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include
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${GAZEBO_INCLUDE_DIRS}
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)
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set(dependencies
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"geometry_msgs"
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"nav_msgs"
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"rclcpp"
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"sensor_msgs"
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"tf2"
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)
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set(EXEC_NAME "turtlebot3_drive")
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add_executable(${EXEC_NAME} src/turtlebot3_drive.cpp)
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ament_target_dependencies(${EXEC_NAME} ${dependencies})
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add_library(traffic_light_plugin SHARED src/traffic_light_plugin.cpp)
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target_link_libraries(traffic_light_plugin ${GAZEBO_LIBRARIES})
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add_library(traffic_bar_plugin SHARED src/traffic_bar_plugin.cpp)
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target_link_libraries(traffic_bar_plugin ${GAZEBO_LIBRARIES})
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add_library(obstacle1 SHARED src/obstacle1.cpp)
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target_link_libraries(obstacle1 ${GAZEBO_LIBRARIES})
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add_library(obstacle2 SHARED src/obstacle2.cpp)
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target_link_libraries(obstacle2 ${GAZEBO_LIBRARIES})
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add_library(obstacles SHARED src/obstacles.cpp)
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target_link_libraries(obstacles ${GAZEBO_LIBRARIES})
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install(TARGETS ${EXEC_NAME}
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DESTINATION lib/${PROJECT_NAME}
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)
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else()
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message(STATUS "turtlebot3_gazebo: Gazebo Classic not found — skipping plugins "
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"(install ros-humble-gazebo-ros-pkgs only if it does not conflict with gz-sim on your system)")
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endif()
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################################################################################
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# Install (always: resources for Gazebo Sim / gzweb / ROS 2 launch)
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################################################################################
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install(DIRECTORY launch models rviz urdf worlds config
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DESTINATION share/${PROJECT_NAME}/
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)
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install(PROGRAMS scripts/gen_office_gz_dartsim.py
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DESTINATION share/${PROJECT_NAME}/scripts
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)
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install(DIRECTORY include/
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DESTINATION include/
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)
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################################################################################
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# Macro for ament package
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################################################################################
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ament_export_include_directories(include)
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if(TURTLEBOT3_GAZEBO_CLASSIC_AVAILABLE)
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ament_export_dependencies(gazebo_ros_pkgs)
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endif()
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ament_export_dependencies(geometry_msgs)
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ament_export_dependencies(nav_msgs)
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ament_export_dependencies(rclcpp)
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ament_export_dependencies(sensor_msgs)
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ament_export_dependencies(tf2)
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ament_package()
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