saturn_ros2/saturn_controller/CMakeLists.txt

cmake_minimum_required(VERSION 3.10)
project(saturn_controller)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package(ament_cmake REQUIRED)
find_package(spdlog REQUIRED)

set(ROS_DEPENDS
  rclcpp
  rclcpp_components
  ysc_robot_msgs
  daystar_navigation_msgs
  saturn_msgs
  std_srvs
)

foreach(pkg_name IN LISTS ROS_DEPENDS)
  find_package(${pkg_name} REQUIRED)
endforeach()

include_directories(./sdk/include)
include_directories(./include)

if(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
  message(STATUS "Building for 64-bit Linux on x86_64")
  set(SDK_PATH "${CMAKE_CURRENT_SOURCE_DIR}/sdk/lib/x86_64")
elseif(CMAKE_SYSTEM_NAME STREQUAL "Linux" AND CMAKE_SYSTEM_PROCESSOR STREQUAL "aarch64")
  message(STATUS "Building for 64-bit Linux on ARM64")
  set(SDK_PATH "${CMAKE_CURRENT_SOURCE_DIR}/sdk/lib/arm")
endif()

link_directories(${SDK_PATH})
install(DIRECTORY ${SDK_PATH}/
  DESTINATION lib/
)

file(GLOB main_files src/*.cpp)

add_library(saturn_controller_component SHARED src/saturn_controller.cpp ${main_files})
target_link_libraries(saturn_controller_component spdlog::spdlog -lmc_client)
ament_target_dependencies(saturn_controller_component ${ROS_DEPENDS})
rclcpp_components_register_nodes(saturn_controller_component "saturn_ros2::SaturnController")

install(TARGETS
  saturn_controller_component
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION lib/${PROJECT_NAME}/
)

install(DIRECTORY
  include/
  DESTINATION include/
)

install(DIRECTORY
  launch
  DESTINATION share/${PROJECT_NAME}/)

install(DIRECTORY
  config
  DESTINATION share/${PROJECT_NAME}/
)

ament_package()