cmake_minimum_required(VERSION 3.5)

project(rclcpp)

find_package(Threads REQUIRED)

find_package(ament_cmake_ros REQUIRED)

find_package(builtin_interfaces REQUIRED)

find_package(libstatistics_collector REQUIRED)

find_package(rcl REQUIRED)

find_package(rcl_interfaces REQUIRED)

find_package(rcl_yaml_param_parser REQUIRED)

find_package(rcpputils REQUIRED)

find_package(rcutils REQUIRED)

find_package(rmw REQUIRED)

find_package(rosgraph_msgs REQUIRED)

find_package(rosidl_runtime_cpp REQUIRED)

find_package(rosidl_typesupport_c REQUIRED)

find_package(rosidl_typesupport_cpp REQUIRED)

find_package(statistics_msgs REQUIRED)

find_package(tracetools REQUIRED)

if(NOT CMAKE_CXX_STANDARD)

set(CMAKE_CXX_STANDARD 14)

endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")

# About -Wno-sign-conversion: With Clang, -Wconversion implies -Wsign-conversion. There are a number of

# implicit sign conversions in rclcpp and gtest.cc, see https://ci.ros2.org/job/ci_osx/9265/.

# Hence disabling -Wsign-conversion for now until all those have eventually been fixed.

# (from https://github.com/ros2/rclcpp/pull/1188#issuecomment-650229140)

add_compile_options(-Wall -Wextra -Wconversion -Wno-sign-conversion -Wpedantic -Wnon-virtual-dtor -Woverloaded-virtual)

endif()

set(${PROJECT_NAME}_SRCS

src/rclcpp/any_executable.cpp

src/rclcpp/callback_group.cpp

src/rclcpp/client.cpp

src/rclcpp/clock.cpp

src/rclcpp/context.cpp

src/rclcpp/contexts/default_context.cpp

src/rclcpp/detail/rmw_implementation_specific_payload.cpp

src/rclcpp/detail/rmw_implementation_specific_publisher_payload.cpp

src/rclcpp/detail/rmw_implementation_specific_subscription_payload.cpp

src/rclcpp/detail/utilities.cpp

src/rclcpp/duration.cpp

src/rclcpp/event.cpp

src/rclcpp/exceptions/exceptions.cpp

src/rclcpp/executable_list.cpp

src/rclcpp/executor.cpp

src/rclcpp/executors.cpp

src/rclcpp/expand_topic_or_service_name.cpp

src/rclcpp/executors/multi_threaded_executor.cpp

src/rclcpp/executors/single_threaded_executor.cpp

src/rclcpp/executors/static_executor_entities_collector.cpp

src/rclcpp/executors/static_single_threaded_executor.cpp

src/rclcpp/future_return_code.cpp

src/rclcpp/graph_listener.cpp

src/rclcpp/guard_condition.cpp

src/rclcpp/init_options.cpp

src/rclcpp/intra_process_manager.cpp

src/rclcpp/logger.cpp

src/rclcpp/logging_mutex.cpp

src/rclcpp/memory_strategies.cpp

src/rclcpp/memory_strategy.cpp

src/rclcpp/message_info.cpp

src/rclcpp/node.cpp

src/rclcpp/node_options.cpp

src/rclcpp/node_interfaces/node_base.cpp

src/rclcpp/node_interfaces/node_clock.cpp

src/rclcpp/node_interfaces/node_graph.cpp

src/rclcpp/node_interfaces/node_logging.cpp

src/rclcpp/node_interfaces/node_parameters.cpp

src/rclcpp/node_interfaces/node_services.cpp

src/rclcpp/node_interfaces/node_time_source.cpp

src/rclcpp/node_interfaces/node_timers.cpp

src/rclcpp/node_interfaces/node_topics.cpp

src/rclcpp/node_interfaces/node_waitables.cpp

src/rclcpp/parameter.cpp

src/rclcpp/parameter_value.cpp

src/rclcpp/parameter_client.cpp

src/rclcpp/parameter_events_filter.cpp

src/rclcpp/parameter_map.cpp

src/rclcpp/parameter_service.cpp

src/rclcpp/publisher_base.cpp

src/rclcpp/qos.cpp

src/rclcpp/qos_event.cpp

src/rclcpp/serialization.cpp

src/rclcpp/serialized_message.cpp

src/rclcpp/service.cpp

src/rclcpp/signal_handler.cpp

src/rclcpp/subscription_base.cpp

src/rclcpp/subscription_intra_process_base.cpp

src/rclcpp/time.cpp

src/rclcpp/time_source.cpp

src/rclcpp/timer.cpp

src/rclcpp/type_support.cpp

src/rclcpp/utilities.cpp

src/rclcpp/wait_set_policies/detail/write_preferring_read_write_lock.cpp

src/rclcpp/waitable.cpp

)

configure_file(

"resource/logging.hpp.em"

"logging.hpp.em.watch"

COPYONLY

)

set(python_code_logging

"import em"

"em.invoke(['-o', 'include/rclcpp/logging.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/logging.hpp.em'])")

string(REPLACE ";" "$<SEMICOLON>" python_code_logging "${python_code_logging}")

add_custom_command(OUTPUT include/rclcpp/logging.hpp

COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp"

COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_code_logging}"

DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/logging.hpp.em.watch"

COMMENT "Expanding logging.hpp.em"

VERBATIM

)

list(APPEND ${PROJECT_NAME}_SRCS

include/rclcpp/logging.hpp)

file(GLOB interface_files "include/rclcpp/node_interfaces/node_*_interface.hpp")

foreach(interface_file ${interface_files})

get_filename_component(interface_name ${interface_file} NAME_WE)

# "watch" template for changes

configure_file(

"resource/interface_traits.hpp.em"

"${CMAKE_CURRENT_BINARY_DIR}/${interface_name}_traits.hpp.em.watch"

COPYONLY

)

set(python_${interface_name}_traits

"import em"

"em.invoke(['-D', 'interface_name = \\'${interface_name}\\'', '-o', 'include/rclcpp/node_interfaces/${interface_name}_traits.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/interface_traits.hpp.em'])")

string(REPLACE ";" "$<SEMICOLON>" python_${interface_name}_traits "${python_${interface_name}_traits}")

add_custom_command(OUTPUT include/rclcpp/node_interfaces/${interface_name}_traits.hpp

COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp/node_interfaces"

COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_${interface_name}_traits}"

DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/${interface_name}_traits.hpp.em.watch"

COMMENT "Expanding interface_traits.hpp.em into ${interface_name}_traits.hpp"

VERBATIM

)

list(APPEND ${PROJECT_NAME}_SRCS

include/rclcpp/node_interfaces/${interface_name}_traits.hpp)

# "watch" template for changes

configure_file(

"resource/get_interface.hpp.em"

"get_${interface_name}.hpp.em.watch"

COPYONLY

)

set(python_get_${interface_name}

"import em"

"em.invoke(['-D', 'interface_name = \\'${interface_name}\\'', '-o', 'include/rclcpp/node_interfaces/get_${interface_name}.hpp', '${CMAKE_CURRENT_SOURCE_DIR}/resource/get_interface.hpp.em'])")

string(REPLACE ";" "$<SEMICOLON>" python_get_${interface_name} "${python_get_${interface_name}}")

add_custom_command(OUTPUT include/rclcpp/node_interfaces/get_${interface_name}.hpp

COMMAND ${CMAKE_COMMAND} -E make_directory "include/rclcpp/node_interfaces"

COMMAND ${PYTHON_EXECUTABLE} ARGS -c "${python_get_${interface_name}}"

DEPENDS "${CMAKE_CURRENT_BINARY_DIR}/get_${interface_name}.hpp.em.watch"

COMMENT "Expanding get_interface.hpp.em into get_${interface_file}.hpp"

VERBATIM

)

list(APPEND ${PROJECT_NAME}_SRCS

include/rclcpp/node_interfaces/get_${interface_name}.hpp)

endforeach()

add_library(${PROJECT_NAME}

${${PROJECT_NAME}_SRCS})

target_include_directories(${PROJECT_NAME} PUBLIC

"$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"

"$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include>"

"$<INSTALL_INTERFACE:include>")

target_link_libraries(${PROJECT_NAME} ${CMAKE_THREAD_LIBS_INIT})

ament_target_dependencies(${PROJECT_NAME}

"libstatistics_collector"

"rcl"

"rcl_yaml_param_parser"

"rcpputils"

"rcutils"

"builtin_interfaces"

"rosgraph_msgs"

"rosidl_typesupport_cpp"

"rosidl_runtime_cpp"

"statistics_msgs"

"tracetools"

)

target_compile_definitions(${PROJECT_NAME}

PRIVATE "RCLCPP_BUILDING_LIBRARY")

install(

TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}

ARCHIVE DESTINATION lib

LIBRARY DESTINATION lib

RUNTIME DESTINATION bin

)

ament_export_include_directories(include)

ament_export_libraries(${PROJECT_NAME})

ament_export_targets(${PROJECT_NAME})

ament_export_dependencies(libstatistics_collector)

ament_export_dependencies(rcl)

ament_export_dependencies(rcpputils)

ament_export_dependencies(rcutils)

ament_export_dependencies(builtin_interfaces)

ament_export_dependencies(rosgraph_msgs)

ament_export_dependencies(rosidl_typesupport_cpp)

ament_export_dependencies(rosidl_typesupport_c)

ament_export_dependencies(rosidl_runtime_cpp)

ament_export_dependencies(rcl_yaml_param_parser)

ament_export_dependencies(statistics_msgs)

ament_export_dependencies(tracetools)

if(BUILD_TESTING)

find_package(ament_lint_auto REQUIRED)

ament_lint_auto_find_test_dependencies()

add_subdirectory(test)

endif()

ament_package()

install(

DIRECTORY include/ ${CMAKE_CURRENT_BINARY_DIR}/include/

DESTINATION include

)