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CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(imu_ros2)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
string (COMPARE EQUAL "adis16465-1" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16465_1)
string (COMPARE EQUAL "adis16465-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16465_2)
string (COMPARE EQUAL "adis16465-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16465_3)
string (COMPARE EQUAL "adis16467-1" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16467_1)
string (COMPARE EQUAL "adis16467-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16467_2)
string (COMPARE EQUAL "adis16467-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16467_3)
string (COMPARE EQUAL "adis16470" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16470)
string (COMPARE EQUAL "adis16475-1" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16475_1)
string (COMPARE EQUAL "adis16475-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16475_2)
string (COMPARE EQUAL "adis16475-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16475_3)
string (COMPARE EQUAL "adis16477-1" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16477_1)
string (COMPARE EQUAL "adis16477-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16477_2)
string (COMPARE EQUAL "adis16477-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16477_3)
string (COMPARE EQUAL "adis16500" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16500)
string (COMPARE EQUAL "adis16501" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16501)
string (COMPARE EQUAL "adis16505-1" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16505_1)
string (COMPARE EQUAL "adis16505-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16505_2)
string (COMPARE EQUAL "adis16505-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16505_3)
string (COMPARE EQUAL "adis16507-1" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16507_1)
string (COMPARE EQUAL "adis16507-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16507_2)
string (COMPARE EQUAL "adis16507-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16507_3)
string (COMPARE EQUAL "adis16545-1" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16545_1)
string (COMPARE EQUAL "adis16545-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16545_2)
string (COMPARE EQUAL "adis16545-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16545_3)
string (COMPARE EQUAL "adis16547-1" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16547_1)
string (COMPARE EQUAL "adis16547-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16547_2)
string (COMPARE EQUAL "adis16547-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16547_3)
string(COMPARE EQUAL "adis16550" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16550)
string(COMPARE EQUAL "adis16550w" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16550W)
string(COMPARE EQUAL "adis16550W" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16550W)
string (COMPARE EQUAL "adis16575-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16575_2)
string (COMPARE EQUAL "adis16575-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16575_3)
string (COMPARE EQUAL "adis16576-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16576_2)
string (COMPARE EQUAL "adis16576-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16576_3)
string (COMPARE EQUAL "adis16577-2" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16577_2)
string (COMPARE EQUAL "adis16577-3" $ENV{DEVICE_ID} DEVICE_FOUND_ADIS16577_3)
if (${DEVICE_FOUND_ADIS16500} OR
${DEVICE_FOUND_ADIS16501} OR
${DEVICE_FOUND_ADIS16505_1} OR
${DEVICE_FOUND_ADIS16505_2} OR
${DEVICE_FOUND_ADIS16505_3} OR
${DEVICE_FOUND_ADIS16507_1} OR
${DEVICE_FOUND_ADIS16507_2} OR
${DEVICE_FOUND_ADIS16507_3})
message(AUTHOR_WARNING "DEVICE_ID=$ENV{DEVICE_ID} which is a valid value.")
set(DEVICE_PATH adis1650x)
add_compile_definitions(ADIS1650X)
elseif (${DEVICE_FOUND_ADIS16465_1} OR
${DEVICE_FOUND_ADIS16465_2} OR
${DEVICE_FOUND_ADIS16465_3} OR
${DEVICE_FOUND_ADIS16467_1} OR
${DEVICE_FOUND_ADIS16467_2} OR
${DEVICE_FOUND_ADIS16467_3} OR
${DEVICE_FOUND_ADIS16470} OR
${DEVICE_FOUND_ADIS16475_1} OR
${DEVICE_FOUND_ADIS16475_2} OR
${DEVICE_FOUND_ADIS16475_3})
message(AUTHOR_WARNING "DEVICE_ID=$ENV{DEVICE_ID} which is a valid value.")
set(DEVICE_PATH adis1646x)
add_compile_definitions(ADIS1646X)
elseif (${DEVICE_FOUND_ADIS16545_1} OR
${DEVICE_FOUND_ADIS16545_2} OR
${DEVICE_FOUND_ADIS16545_3} OR
${DEVICE_FOUND_ADIS16547_1} OR
${DEVICE_FOUND_ADIS16547_2} OR
${DEVICE_FOUND_ADIS16547_3})
message(AUTHOR_WARNING "DEVICE_ID=$ENV{DEVICE_ID} which is a valid value.")
set(DEVICE_PATH adis1654x)
add_compile_definitions(ADIS1654X)
elseif (${DEVICE_FOUND_ADIS16550} OR
${DEVICE_FOUND_ADIS16550W})
message(AUTHOR_WARNING "DEVICE_ID=$ENV{DEVICE_ID} which is a valid value.")
set(DEVICE_PATH adis1655x)
add_compile_definitions(ADIS1655X)
elseif (${DEVICE_FOUND_ADIS16575_2} OR
${DEVICE_FOUND_ADIS16575_3} OR
${DEVICE_FOUND_ADIS16576_2} OR
${DEVICE_FOUND_ADIS16576_3} OR
${DEVICE_FOUND_ADIS16577_2} OR
${DEVICE_FOUND_ADIS16577_3})
message(AUTHOR_WARNING "DEVICE_ID=$ENV{DEVICE_ID} which is a valid value.")
set(DEVICE_PATH adis1657x)
add_compile_definitions(ADIS1657X)
elseif (${DEVICE_FOUND_ADIS16477_1} OR
${DEVICE_FOUND_ADIS16477_2} OR
${DEVICE_FOUND_ADIS16477_3})
message(AUTHOR_WARNING "DEVICE_ID=$ENV{DEVICE_ID} which is a valid value.")
set(DEVICE_PATH adis1647x)
add_compile_definitions(ADIS1647X)
else()
message (FATAL_ERROR "
DEVICE_ID=$ENV{DEVICE_ID} is not a valid value.
Please use one of the following supported devices:
adis16465-1, adis16465-2, adis16465-3,
adis16467-1, adis16467-2, adis16467-3,
adis16470,
adis16475-1, adis16475-2, adis16475-3,
adis16477-1, adis16477-2, adis16477-3,
adis16500,
adis16501,
adis16505-1, adis16505-2, adis16505-3,
adis16507-1, adis16507-2, adis16507-3,
adis16545-1, adis16545-2, adis16545-3,
adis16547-1, adis16547-2, adis16547-3,
adis16550, adis16550W,
adis16575-2, adis16575-3,
adis16576-2, adis16576-3,
adis16577-2, adis16577-3.")
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(builtin_interfaces REQUIRED)
find_package(rosidl_default_generators REQUIRED)
find_library(LIBIIO_LIBRARIES iio)
find_path(LIBIIO_INCLUDE_DIRS iio.h)
file(GLOB FILES_H ${CMAKE_SOURCE_DIR}/include/*.h
${CMAKE_SOURCE_DIR}/include/imu_ros2/*.h
${CMAKE_SOURCE_DIR}/include/imu_ros2/${DEVICE_PATH}/*.h)
file(GLOB FILES_CPP ${CMAKE_SOURCE_DIR}/src/*.cpp
${CMAKE_SOURCE_DIR}/src/${DEVICE_PATH}/*.cpp)
add_executable(imu_ros2_node ${FILES_H} ${FILES_CPP})
target_include_directories(imu_ros2_node PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>)
target_compile_features(imu_ros2_node PUBLIC cxx_std_17) # Require C++17
ament_target_dependencies(imu_ros2_node rclcpp geometry_msgs std_msgs sensor_msgs ament_cmake )
target_link_libraries(imu_ros2_node iio)
install(
DIRECTORY launch rviz
DESTINATION share/${PROJECT_NAME}
)
install(TARGETS imu_ros2_node
DESTINATION lib/${PROJECT_NAME})
rosidl_generate_interfaces(imu_ros2
"msg/ImuIdentificationData.msg"
"msg/VelAngTempData.msg"
"msg/ImuFullMeasuredData.msg"
"msg/AccelGyroTempData.msg"
"msg/${DEVICE_PATH}/ImuDiagData.msg"
DEPENDENCIES builtin_interfaces geometry_msgs
)
rosidl_get_typesupport_target(imu_ros2_node
${PROJECT_NAME} "rosidl_typesupport_cpp")
ament_export_dependencies(rosidl_default_runtime)
target_link_libraries(imu_ros2_node "${imu_ros2_node}")
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
find_package(ament_cmake_gtest REQUIRED)
ament_lint_auto_find_test_dependencies()
add_subdirectory(test)
endif()
install(FILES config/${DEVICE_PATH}/imu_config.yaml DESTINATION config)
ament_package()