128 lines
3.1 KiB
CMake
128 lines
3.1 KiB
CMake
cmake_minimum_required(VERSION 3.16)
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project(skylink_bridge LANGUAGES CXX)
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# ============================================================================
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# 编译标准和优化选项
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# ============================================================================
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set(CMAKE_CXX_STANDARD 17)
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra")
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# 如果未指定编译类型，默认为 Release
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if(NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE Release CACHE STRING "Build type" FORCE)
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endif()
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# ============================================================================
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# 查找依赖
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# ============================================================================
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(sensor_msgs REQUIRED)
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find_package(geometry_msgs REQUIRED)
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find_package(cv_bridge REQUIRED)
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find_package(image_transport REQUIRED)
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find_package(mavros_msgs REQUIRED)
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# OpenCV
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find_package(OpenCV REQUIRED COMPONENTS core imgproc)
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# JPEG 库
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find_package(JPEG REQUIRED)
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# 线程库
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find_package(Threads REQUIRED)
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# ============================================================================
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# 包含目录
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# ============================================================================
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include_directories(
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include
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${CMAKE_SOURCE_DIR}/../../protocol # 公共协议定义
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)
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# ============================================================================
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# 源文件
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# ============================================================================
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set(SOURCES
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src/udp_sender_node.cpp
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)
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set(HEADERS
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include/skylink_bridge/udp_sender_node.hpp
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)
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# ============================================================================
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# 创建节点可执行文件
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# ============================================================================
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add_executable(udp_sender_node ${SOURCES} ${HEADERS})
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# 链接库
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target_link_libraries(udp_sender_node
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${rclcpp_LIBRARIES}
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${sensor_msgs_LIBRARIES}
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${geometry_msgs_LIBRARIES}
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${cv_bridge_LIBRARIES}
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${image_transport_LIBRARIES}
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${mavros_msgs_LIBRARIES}
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${OpenCV_LIBRARIES}
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${JPEG_LIBRARIES}
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Threads::Threads
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)
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# 目标级别的包含目录
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ament_target_dependencies(udp_sender_node
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rclcpp
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sensor_msgs
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geometry_msgs
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cv_bridge
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image_transport
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mavros_msgs
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)
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# ============================================================================
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# 安装规则
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# ============================================================================
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# 安装可执行文件
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install(TARGETS udp_sender_node
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DESTINATION lib/${PROJECT_NAME}
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)
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# 安装启动文件
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install(DIRECTORY launch/
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DESTINATION share/${PROJECT_NAME}/launch
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)
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# 安装配置文件
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install(DIRECTORY config/
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DESTINATION share/${PROJECT_NAME}/config
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)
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# 安装头文件
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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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# Ament 导出
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# ============================================================================
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ament_export_targets(${PROJECT_NAME}_export HAS_LIBRARY_TARGET)
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ament_export_dependencies(
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rclcpp
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sensor_msgs
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geometry_msgs
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cv_bridge
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image_transport
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mavros_msgs
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OpenCV
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)
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ament_package()
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