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1cmake_minimum_required(VERSION 3.8)
2project(bag_recorder_backend)
3
4if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
5 add_compile_options(-Wall -Wextra -Wpedantic)
6endif()
7
8find_package(ament_cmake REQUIRED)
9find_package(rclcpp REQUIRED)
10find_package(rosbag2_cpp REQUIRED)
11find_package(rosbag2_storage REQUIRED)
12find_package(rosbag2_storage_default_plugins REQUIRED)
13find_package(std_msgs REQUIRED)
14find_package(sensor_msgs REQUIRED)
15find_package(geometry_msgs REQUIRED)
16find_package(nav_msgs REQUIRED)
17find_package(tf2_msgs REQUIRED)
18find_package(Crow REQUIRED)
19
20add_executable(bag_recorder_node
21 src/main.cpp
22 src/bag_recorder_node.cpp
23 src/crow_server.cpp
24)
25
26target_link_libraries(bag_recorder_node
27 Crow::Crow
28 pthread
29)
30
31ament_target_dependencies(bag_recorder_node
32 rclcpp
33 rosbag2_cpp
34 rosbag2_storage
35 rosbag2_storage_default_plugins
36 std_msgs
37 sensor_msgs
38 geometry_msgs
39 nav_msgs
40 tf2_msgs
41)
42
43target_include_directories(bag_recorder_node PUBLIC
44 "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
45 "$<INSTALL_INTERFACE:include/${PROJECT_NAME}>"
46)
47
48install(TARGETS
49 bag_recorder_node
50 DESTINATION lib/${PROJECT_NAME}
51)
52
53install(DIRECTORY
54 config/
55 DESTINATION share/${PROJECT_NAME}/config
56)
57
58if(BUILD_TESTING)
59 find_package(ament_lint_auto REQUIRED)
60 find_package(ament_cmake_gtest REQUIRED)
61
62 ament_lint_auto_find_test_dependencies()
63endif()
64
65ament_package()
66