glovebox_bt/CMakeLists.txt at main · UTNuclearRobotics/glovebox_bt · GitHub

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cmake_minimum_required(VERSION 3.8)
project(glovebox_bt)

# Set C++ standard
set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON)

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

# Find required packages
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(behaviortree_cpp REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(moveit_ros_planning_interface REQUIRED)

include_directories(include)

add_executable(run_glovebox_tree
  src/run_glovebox_tree.cpp
  src/behaviors/move_arm_to_pose.cpp
  # add any other behaviors launched by running the tree
  )

# Link executable with libraries
ament_target_dependencies(run_glovebox_tree
  rclcpp
  behaviortree_cpp
  tf2_ros
  geometry_msgs
  std_msgs
  ament_index_cpp
  moveit_ros_planning_interface
)

# Specify header search path
target_include_directories(run_glovebox_tree PUBLIC
  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
  $<INSTALL_INTERFACE:include>
)

# Install executable
install(TARGETS
  run_glovebox_tree
  DESTINATION lib/${PROJECT_NAME}
)

# Install behavior trees
install(
  DIRECTORY behavior_trees/
  DESTINATION share/${PROJECT_NAME}/behavior_trees
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  set(ament_cmake_copyright_FOUND TRUE)
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()