CMakeLists.txt

cmake_minimum_required(VERSION 3.5)

project(sensor_msgs)

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 17)
  set(CMAKE_CXX_STANDARD_REQUIRED ON)
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(builtin_interfaces REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)

set(msg_files
  "msg/BatteryState.msg"
  "msg/CameraInfo.msg"
  "msg/ChannelFloat32.msg"
  "msg/CompressedImage.msg"
  "msg/FluidPressure.msg"
  "msg/Illuminance.msg"
  "msg/Image.msg"
  "msg/Imu.msg"
  "msg/JointState.msg"
  "msg/Joy.msg"
  "msg/JoyFeedback.msg"
  "msg/JoyFeedbackArray.msg"
  "msg/LaserEcho.msg"
  "msg/LaserScan.msg"
  "msg/MagneticField.msg"
  "msg/MultiDOFJointState.msg"
  "msg/MultiEchoLaserScan.msg"
  "msg/NavSatFix.msg"
  "msg/NavSatStatus.msg"
  "msg/PointCloud.msg"
  "msg/PointCloud2.msg"
  "msg/PointField.msg"
  "msg/Range.msg"
  "msg/RegionOfInterest.msg"
  "msg/RelativeHumidity.msg"
  "msg/Temperature.msg"
  "msg/TimeReference.msg"
)
set(srv_files
  "srv/SetCameraInfo.srv"
)
rosidl_generate_interfaces(${PROJECT_NAME}
  ${msg_files}
  ${srv_files}
  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
  ADD_LINTER_TESTS
)

rosidl_get_typesupport_target(cpp_typesupport_target "${PROJECT_NAME}" "rosidl_typesupport_cpp")

if(BUILD_TESTING)
  find_package(ament_cmake_gtest REQUIRED)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
endif()

if(TARGET "${cpp_typesupport_target}")
  add_library(${PROJECT_NAME}_library INTERFACE)
  target_include_directories(${PROJECT_NAME}_library INTERFACE
  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
  "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>")
  target_link_libraries(${PROJECT_NAME}_library INTERFACE
  "${cpp_typesupport_target}")

  install(DIRECTORY include/
    DESTINATION include/${PROJECT_NAME}
  )
  install(
    TARGETS ${PROJECT_NAME}_library EXPORT export_${PROJECT_NAME}
  )

  # Export old-style CMake variables
  ament_export_include_directories("include/${PROJECT_NAME}")

  # Export modern CMake targets
  ament_export_targets(export_${PROJECT_NAME})

  if(BUILD_TESTING)
    ament_add_gtest(test_sensor_msgs
      test/test_image_encodings.cpp
      test/test_pointcloud_conversion.cpp
      test/test_pointcloud_iterator.cpp)
    target_link_libraries(test_sensor_msgs ${PROJECT_NAME}_library)
  endif()
endif()

ament_export_dependencies(rosidl_default_runtime)

ament_package()