140 lines
2.8 KiB
CMake
140 lines
2.8 KiB
CMake
cmake_minimum_required(VERSION 3.0.2)
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project(socketcan_bridge)
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find_package(catkin REQUIRED
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COMPONENTS
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can_msgs
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rosconsole_bridge
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roscpp
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socketcan_interface
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)
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catkin_package(
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INCLUDE_DIRS
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include
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LIBRARIES
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socketcan_to_topic
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topic_to_socketcan
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CATKIN_DEPENDS
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can_msgs
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rosconsole_bridge
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roscpp
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socketcan_interface
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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)
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# socketcan_to_topic
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add_library(socketcan_to_topic
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src/rosconsole_bridge.cpp
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src/socketcan_to_topic.cpp
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)
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target_link_libraries(socketcan_to_topic
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${catkin_LIBRARIES}
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)
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add_dependencies(socketcan_to_topic
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${catkin_EXPORTED_TARGETS}
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)
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# topic_to_socketcan
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add_library(topic_to_socketcan
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src/rosconsole_bridge.cpp
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src/topic_to_socketcan.cpp
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)
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target_link_libraries(topic_to_socketcan
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${catkin_LIBRARIES}
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)
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add_dependencies(topic_to_socketcan
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${catkin_EXPORTED_TARGETS}
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)
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# socketcan_to_topic_node
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add_executable(socketcan_to_topic_node
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src/socketcan_to_topic_node.cpp
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)
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target_link_libraries(socketcan_to_topic_node
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socketcan_to_topic
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${catkin_LIBRARIES}
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)
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# topic_to_socketcan_node
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add_executable(topic_to_socketcan_node
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src/topic_to_socketcan_node.cpp
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)
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target_link_libraries(topic_to_socketcan_node
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topic_to_socketcan
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${catkin_LIBRARIES}
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)
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# socketcan_bridge_node
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add_executable(${PROJECT_NAME}_node
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src/${PROJECT_NAME}_node.cpp
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)
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target_link_libraries(${PROJECT_NAME}_node
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topic_to_socketcan
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socketcan_to_topic
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${catkin_LIBRARIES}
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)
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install(
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TARGETS
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${PROJECT_NAME}_node
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socketcan_to_topic
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socketcan_to_topic_node
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topic_to_socketcan
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topic_to_socketcan_node
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ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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)
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install(
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DIRECTORY
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include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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)
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if(CATKIN_ENABLE_TESTING)
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find_package(rostest REQUIRED)
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find_package(roslint REQUIRED)
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roslint_cpp()
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roslint_add_test()
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# unit test for the can_msgs::Frame and can::Frame types.
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catkin_add_gtest(test_conversion
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test/test_conversion.cpp
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)
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target_link_libraries(test_conversion
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topic_to_socketcan
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socketcan_to_topic
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${catkin_LIBRARIES}
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)
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add_rostest_gtest(test_to_socketcan
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test/to_socketcan.test
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test/to_socketcan_test.cpp
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)
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target_link_libraries(test_to_socketcan
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topic_to_socketcan
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${catkin_LIBRARIES}
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)
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add_rostest_gtest(test_to_topic
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test/to_topic.test
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test/to_topic_test.cpp
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)
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target_link_libraries(test_to_topic
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socketcan_to_topic
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topic_to_socketcan
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${catkin_LIBRARIES}
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)
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endif()
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