update cmake and package files (#22)

* update CmakeLists and package.xml for server. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * update CmakeLists and package.xml for client. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * add dependent packages to build check scripts. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> * add if statement to process yaml-cpp differently in CMake. Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com> --------- Signed-off-by: Tomoya Fujita <Tomoya.Fujita@sony.com>
fujitatomoya · Apr 30, 2024 · 0f0e64e · 0f0e64e
1 parent 5a9959b
commit 0f0e64e
Show file tree

Hide file tree

Showing 5 changed files with 96 additions and 46 deletions.
diff --git a/scripts/build-verification.sh b/scripts/build-verification.sh
@@ -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
 }
 

diff --git a/server/CMakeLists.txt b/server/CMakeLists.txt
@@ -1,35 +1,71 @@
 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})
-
 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})
+
+# yaml-cpp updates CMake thing significantly on v0.8.0 or later.
+# so we ended up having the if statement to process differently instead of creating branches.
+# see https://github.com/jbeder/yaml-cpp/releases/tag/0.8.0
+find_package(yaml-cpp 0.8.0 QUIET)
+if (yaml-cpp_FOUND)
+ message(STATUS "yaml-cpp package is greater equal than version 0.8.0")
+ target_link_libraries(server
+ rclcpp::rclcpp
+ rcutils::rcutils
+ ${Boost_LIBRARIES}
+ yaml-cpp::yaml-cpp
+ )
+else()
+ message(STATUS "yaml-cpp package is less than version 0.8.0")
+ find_package(yaml-cpp REQUIRED)
+ target_link_libraries(server
+ rclcpp::rclcpp
+ rcutils::rcutils
+ ${Boost_LIBRARIES}
+ yaml-cpp
+ )
+endif()
+
+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})
 

diff --git a/server/package.xml b/server/package.xml
@@ -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>
@@ -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>

diff --git a/test/CMakeLists.txt b/test/CMakeLists.txt
@@ -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})
 

diff --git a/test/package.xml b/test/package.xml
@@ -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>