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update cmake and package files #22

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merged 4 commits into from
Apr 30, 2024
Merged

update cmake and package files #22

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f6e7bc1
update CmakeLists and package.xml for server.
fujitatomoya Apr 30, 2024
c273b58
update CmakeLists and package.xml for client.
fujitatomoya Apr 30, 2024
38f50fe
add dependent packages to build check scripts.
fujitatomoya Apr 30, 2024
818c6e6
add if statement to process yaml-cpp differently in CMake.
fujitatomoya Apr 30, 2024
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1 change: 1 addition & 0 deletions scripts/build-verification.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,7 @@ function install_prerequisites () {
echo "[${FUNCNAME[0]}]: update and install dependent packages."
apt update && apt upgrade -y
apt install -y ros-${ROS_DISTRO}-desktop ros-${ROS_DISTRO}-rmw-cyclonedds-cpp --no-install-recommends
apt install -y libyaml-cpp-dev libboost-program-options-dev libboost-filesystem-dev
cd $there
}

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41 changes: 31 additions & 10 deletions server/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,35 +1,56 @@
cmake_minimum_required(VERSION 3.5)
project(parameter_server VERSION 1.0.0)
project(parameter_server VERSION 1.0.1)

# Default to C++14
# Set Release build if no build type was specified
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
set(CMAKE_BUILD_TYPE "Release" CACHE STRING
"Build type for the build. Possible values are: Debug, Release, RelWithDebInfo, MinSizeRel"
FORCE)
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
"Debug" "Release" "RelWithDebInfo" "MinSizeRel")
endif()

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
endif()

# Enable additional warnings and warnings as errors
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(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rcutils)
find_package(rcutils REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rmw REQUIRED)

find_package(Boost REQUIRED COMPONENTS program_options filesystem)
find_package(yaml_cpp_vendor REQUIRED)

include_directories(include)
include_directories(${Boost_INCLUDE_DIRS})
include_directories(${yaml_cpp_vendor_INCLUDE_DIRS})
find_package(yaml-cpp REQUIRED)

add_executable(server
src/parameter_server.cpp
src/main.cpp
)
ament_target_dependencies(server rclcpp rclcpp_components std_msgs)
target_link_libraries(server ${Boost_LIBRARIES} ${yaml_cpp_vendor_LIBRARIES})

target_link_libraries(server
rclcpp::rclcpp
rcutils::rcutils
${Boost_LIBRARIES}
yaml-cpp::yaml-cpp
)

target_include_directories(server
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
)

ament_target_dependencies(server rclcpp rclcpp_components std_msgs rcutils)

install(TARGETS server DESTINATION lib/${PROJECT_NAME})

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23 changes: 8 additions & 15 deletions server/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>parameter_server</name>
<version>1.0.0</version>
<version>1.0.1</version>
<description>
ros2 parameter server that other nodes can write/read parameters including persistent parameters.
</description>
Expand All @@ -12,22 +12,15 @@

<buildtool_depend>ament_cmake</buildtool_depend>

<build_depend>rclcpp</build_depend>
<build_depend>rclcpp_components</build_depend>
<build_depend>rcutils</build_depend>
<build_depend>rmw</build_depend>
<build_depend>rmw_implementation_cmake</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>yaml_cpp_vendor</build_depend>
<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>rcutils</depend>
<depend>rmw</depend>
<depend>rmw_implementation_cmake</depend>
<depend>std_msgs</depend>
<depend>yaml_cpp_vendor</depend>

<exec_depend>launch_ros</exec_depend>
<exec_depend>rclcpp</exec_depend> <exec_depend>yaml_cpp_vendor</exec_depend>

<exec_depend>rclcpp_components</exec_depend>
<exec_depend>rcutils</exec_depend>
<exec_depend>rmw</exec_depend>
<exec_depend>std_msgs</exec_depend>
<exec_depend>yaml_cpp_vendor</exec_depend>

<test_depend>ament_cmake_pytest</test_depend>
<test_depend>ament_lint_auto</test_depend>
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35 changes: 28 additions & 7 deletions test/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,29 +1,50 @@
cmake_minimum_required(VERSION 3.5)
project(ros2_persistent_parameter_server_test)
project(ros2_persistent_parameter_server_test VERSION 1.0.1)

# Set Release build if no build type was specified
if(NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
set(CMAKE_BUILD_TYPE "Release" CACHE STRING
"Build type for the build. Possible values are: Debug, Release, RelWithDebInfo, MinSizeRel"
FORCE)
set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS
"Debug" "Release" "RelWithDebInfo" "MinSizeRel")
endif()

# Default to C++17
if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
endif()

# Enable additional warnings and warnings as errors
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_components REQUIRED)

find_package(rclcpp REQUIRED)
find_package(rclcpp_components REQUIRED)
find_package(rcutils REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rmw REQUIRED)

include_directories(include)

add_executable(client
src/test.cpp
src/persist_parameter_client.cpp
)

ament_target_dependencies(client rclcpp rclcpp_components)
target_link_libraries(client
rclcpp::rclcpp
rcutils::rcutils
)

target_include_directories(client
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
)

ament_target_dependencies(client rclcpp rclcpp_components std_msgs rcutils)

install(TARGETS client DESTINATION lib/${PROJECT_NAME})

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27 changes: 13 additions & 14 deletions test/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -2,25 +2,24 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>ros2_persistent_parameter_server_test</name>
<version>1.0.0</version>
<description>Client test demo for persistent parameter server</description>
<maintainer email="Bingtao.Du@sony.com">dbt</maintainer>
<version>1.0.1</version>
<description>
Client test demo for persistent parameter server
</description>
<maintainer email="Tomoya.Fujita@sony.com">dbt</maintainer>
<license>Apache License 2.0</license>
<author email="Tomoya.Fujita@sony.com">Tomoya Fujita></author>

<buildtool_depend>ament_cmake</buildtool_depend>
<build_depend>rclcpp</build_depend>
<build_depend>rclcpp_components</build_depend>
<build_depend>rcutils</build_depend>
<build_depend>rmw</build_depend>
<build_depend>rmw_implementation_cmake</build_depend>
<build_depend>std_msgs</build_depend>

<depend>rclcpp</depend>
<depend>rclcpp_components</depend>
<depend>rcutils</depend>
<depend>rmw</depend>
<depend>rmw_implementation_cmake</depend>
<depend>std_msgs</depend>

<exec_depend>launch_ros</exec_depend>
<exec_depend>rclcpp</exec_depend>
<exec_depend>rclcpp_components</exec_depend>
<exec_depend>rcutils</exec_depend>
<exec_depend>rmw</exec_depend>
<exec_depend>std_msgs</exec_depend>

<test_depend>launch</test_depend>
<test_depend>ament_lint_auto</test_depend>
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