CMakeLists.txt

cmake_minimum_required(VERSION 3.22.1)

project(linear_feedback_controller_msgs)

find_package(ament_cmake REQUIRED)
find_package(rosidl_default_generators REQUIRED)

find_package(Eigen3 REQUIRED)
find_package(tf2_eigen REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/Contact.msg"
  "msg/Control.msg"
  "msg/Sensor.msg"
  DEPENDENCIES builtin_interfaces std_msgs sensor_msgs geometry_msgs
  ADD_LINTER_TESTS
)
rosidl_get_typesupport_target(cpp_typesupport_target
  ${PROJECT_NAME} rosidl_typesupport_cpp)

#
# Main lib.
#
set(${PROJECT_NAME}_HEADERS include/${PROJECT_NAME}/eigen_conversions.hpp)
set(${PROJECT_NAME}_SOURCES "")
add_library(${PROJECT_NAME}_conversion INTERFACE)
target_link_libraries(${PROJECT_NAME}_conversion
  INTERFACE Eigen3::Eigen tf2_eigen::tf2_eigen "${cpp_typesupport_target}")
target_include_directories(
  ${PROJECT_NAME}_conversion
  INTERFACE $<INSTALL_INTERFACE:include/>
            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)

#
# Unit tests
#
if(BUILD_TESTING)
  ament_add_gtest(test_eigen_conversions tests/test_eigen_conversions.cpp
                  tests/gtest_main.cpp)
  target_link_libraries(test_eigen_conversions ${PROJECT_NAME}_conversion)
  set_tests_properties(test_eigen_conversions PROPERTIES
      ENVIRONMENT_MODIFICATION
      LD_LIBRARY_PATH=path_list_prepend:${CMAKE_CURRENT_BINARY_DIR})

  find_package(ament_cmake_pytest REQUIRED)
  set(_pytest_tests
    tests/test_numpy_conversions.py
  )
  foreach(_test_path ${_pytest_tests})
    get_filename_component(_test_name ${_test_path} NAME_WE)
    ament_add_pytest_test(${_test_name} ${_test_path}
      APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_BINARY_DIR}:${CMAKE_CURRENT_BINARY_DIR}/rosidl_generator_py
      TIMEOUT 60
      WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
    )
  endforeach()
endif()

#
# Install
#

# Install Python modules
ament_python_install_package(${PROJECT_NAME}_py)

install(
  TARGETS ${PROJECT_NAME}_conversion
  EXPORT export_${PROJECT_NAME}
  LIBRARY DESTINATION $[CMAKE_INSTALL_LIBDIR}
  ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
  RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR}
)
install(FILES package.xml DESTINATION share/${PROJECT_NAME})
install(
  DIRECTORY include/${PROJECT_NAME}
  DESTINATION include
  PATTERN "third_party" EXCLUDE)

ament_export_targets(export_${PROJECT_NAME} HAS_LIBRARY_TARGET)
ament_export_dependencies(rosidl_default_runtime)
ament_export_dependencies(eigen3_cmake_module)
ament_export_dependencies(Eigen3)
ament_export_dependencies(tf2_eigen)

ament_package()