Merge pull request #66 from fjanguita/CMakeLists_example

CMakeLists example and link to node template added

Author: RPS98

docs/_09_development/_develop_guide/_develop_guide/_develop_new_pkg.rst

@@ -4,6 +4,7 @@
 Developing a New Package
 ------------------------
 
+
 .. _development_guide_new_pkg_architecture:
 
 Architecture of a New Package
@@ -420,20 +421,135 @@ In order to compile this tests some lines must be added into a **NEW** ``CMakeLi
     endforeach()
     endif()
 
-In order to link this ``./tests/CMakeLists.txt`` file into the ``CMakeLists.txt`` file of the package, the following line must be added:
+In order to link and run your functional tests alongside with the code style ones, your package's CMakeLists.txt should follow the next structure:
 
 .. code-block:: cmake
 
+    # Set the minimum required CMake version
+    cmake_minimum_required(VERSION 3.5)
+
+    # Set the project name
+    set(PROJECT_NAME as2_node_template)
+    project(${PROJECT_NAME})
+
+    # Default to C++17 if not set
+    if(NOT CMAKE_CXX_STANDARD)
+    set(CMAKE_CXX_STANDARD 17)
+    endif()
+
+    # Set Release as default build type if not set
+    if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE Release)
+    endif()
+
+    # find dependencies
+    set(PROJECT_DEPENDENCIES
+    ament_cmake
+    rclcpp
+    as2_core
+    as2_msgs
+    std_msgs
+    )
+
+    foreach(DEPENDENCY ${PROJECT_DEPENDENCIES})
+    find_package(${DEPENDENCY} REQUIRED)
+    endforeach()
+
+    # Include necessary directories
+    include_directories(
+    include
+    include/${PROJECT_NAME}
+    )
+
+    # Set source files
+    set(SOURCE_CPP_FILES
+    src/${PROJECT_NAME}_node.cpp
+    src/${PROJECT_NAME}.cpp
+    )
+
+    # Create the node executable
+    add_executable(${PROJECT_NAME}_node ${SOURCE_CPP_FILES})
+    ament_target_dependencies(${PROJECT_NAME}_node ${PROJECT_DEPENDENCIES})
+
+    # Create the dynamic library
+    set(CMAKE_POSITION_INDEPENDENT_CODE ON)
+    add_library(${PROJECT_NAME} SHARED ${SOURCE_CPP_FILES})
+    ament_target_dependencies(${PROJECT_NAME} ${PROJECT_DEPENDENCIES})
+
+    # Set the public include directories for the library
+    target_include_directories(${PROJECT_NAME} PUBLIC
+    $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+    $<INSTALL_INTERFACE:include>)
+
+    # Install the headers
+    install(
+    DIRECTORY include/
+    DESTINATION include
+    )
+
+    # Install the node executable
+    install(TARGETS
+    ${PROJECT_NAME}_node
+    DESTINATION lib/${PROJECT_NAME}
+    )
+
+    # Install the shared library
+    install(
+    TARGETS ${PROJECT_NAME}
+    EXPORT export_${PROJECT_NAME}
+    ARCHIVE DESTINATION lib
+    LIBRARY DESTINATION lib
+    RUNTIME DESTINATION bin
+    )
+
+    # Export the libraries
+    ament_export_libraries(${PROJECT_NAME})
+
+    # Export the targets
+    ament_export_targets(export_${PROJECT_NAME})
+
+    # Export the include directories
+    ament_export_include_directories(include)
+
+    # Install the launch directory
+    install(DIRECTORY
+    launch
+    DESTINATION share/${PROJECT_NAME}
+    )
+
+    # Install the config directory
+    install(DIRECTORY
+    config
+    DESTINATION share/${PROJECT_NAME}
+    )
+
     # Build tests if testing is enabled
     if(BUILD_TESTING)
-        # all other tests
-        add_subdirectory(tests)
+    find_package(ament_lint_auto REQUIRED)
+    file(GLOB_RECURSE EXCLUDE_FILES
+        build/*
+        install/*
+    )
+    set(AMENT_LINT_AUTO_FILE_EXCLUDE ${EXCLUDE_FILES})
+    ament_lint_auto_find_test_dependencies()
+
+    add_subdirectory(tests)
     endif()
 
+    # Create the ament package
+    ament_package()
+
 
 To run these tests:
 
 .. code-block:: bash
 
     colcon test
 
+    
+
+------------------------------
+Node Template for New Packages
+------------------------------
+
+An example node with the proper structure and all the templates can be found `here <https://github.com/aerostack2/as2_node_template>`_.