Merge pull request #2 from PabloEspejeLS/main

First Commit

hunter_base/CMakeLists.txt

@@ -0,0 +1,80 @@
+cmake_minimum_required(VERSION 3.5)
+project(hunter_base)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(nav_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(tf2 REQUIRED)
+find_package(tf2_ros REQUIRED)
+find_package(tf2_geometry_msgs REQUIRED)
+
+find_package(hunter_msgs REQUIRED)
+find_package(ugv_sdk REQUIRED)
+add_subdirectory(ascent)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+include_directories(
+  include
+)
+
+
+set(DEPENDENCIES
+  "geometry_msgs"
+  "nav_msgs"
+  "rclcpp"
+  "std_msgs"
+  "tf2"
+  "tf2_ros"
+  "hunter_msgs"
+  "sensor_msgs"
+  "tf2_geometry_msgs"
+)
+
+
+add_executable(hunter_base_node 
+    src/hunter_base_ros.cpp
+    src/hunter_base_node.cpp
+    src/bicycle_model.cpp)
+target_link_libraries(hunter_base_node ugv_sdk ${dependencies} ascent)
+ament_target_dependencies(hunter_base_node rclcpp tf2 tf2_ros std_msgs nav_msgs sensor_msgs hunter_msgs tf2_geometry_msgs ${dependencies})
+
+install(TARGETS hunter_base_node
+  DESTINATION lib/${PROJECT_NAME})
+
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}/)
+
+# install(DIRECTORY ascent
+#   DESTINATION share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

hunter_base/ascent/CMakeLists.txt

@@ -0,0 +1,65 @@
+cmake_minimum_required(VERSION 3.10)
+project("ascent"
+		VERSION 0.5.0
+		DESCRIPTION "An extremely fast and flexible C++ simulation engine and differential equation solver."
+		# HOMEPAGE_URL "https://github.com/AnyarInc/Ascent"
+		LANGUAGES CXX)
+
+include(GNUInstallDirs)
+include(CMakePackageConfigHelpers)
+include(CPack)
+if(CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME)
+	include(CTest)
+endif()
+
+add_library(${PROJECT_NAME} INTERFACE)
+add_library(${PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
+
+target_compile_features(${PROJECT_NAME} INTERFACE cxx_std_17)
+if (MSVC)
+	target_compile_options(${PROJECT_NAME} INTERFACE "/bigobj") # for ChaiScript
+endif()
+
+target_include_directories(
+  ${PROJECT_NAME}
+  INTERFACE $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+			$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/catch2>
+            $<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>)
+
+install(TARGETS ${PROJECT_NAME}
+        EXPORT ${PROJECT_NAME}_Targets
+        ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+        RUNTIME DESTINATION ${CMAKE_INSTALL_BINDIR})
+
+write_basic_package_version_file("${PROJECT_NAME}ConfigVersion.cmake"
+                                 VERSION ${PROJECT_VERSION}
+                                 COMPATIBILITY SameMajorVersion)
+configure_package_config_file(
+  "${PROJECT_SOURCE_DIR}/cmake/${PROJECT_NAME}Config.cmake.in"
+  "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+  INSTALL_DESTINATION
+  ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/cmake)
+
+install(EXPORT ${PROJECT_NAME}_Targets
+        FILE ${PROJECT_NAME}Targets.cmake
+        NAMESPACE ${PROJECT_NAME}::
+        DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/cmake)
+
+install(FILES "${PROJECT_BINARY_DIR}/${PROJECT_NAME}Config.cmake"
+              "${PROJECT_BINARY_DIR}/${PROJECT_NAME}ConfigVersion.cmake"
+        DESTINATION ${CMAKE_INSTALL_DATAROOTDIR}/${PROJECT_NAME}/cmake)
+
+install(DIRECTORY ${PROJECT_SOURCE_DIR}/include/${PROJECT_NAME}
+        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+
+set(CPACK_RESOURCE_FILE_LICENSE "${PROJECT_SOURCE_DIR}/LICENSE")
+
+if((CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME OR MODERN_CMAKE_BUILD_TESTING) AND BUILD_TESTING)
+	add_subdirectory(unit_tests)
+endif()
+
+option(BUILD_EXAMPLES "Build example projects" TRUE)
+if((CMAKE_PROJECT_NAME STREQUAL PROJECT_NAME) AND BUILD_EXAMPLES)
+   add_subdirectory(examples)
+endif()