CMakeLists.txt

cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)

project(mocap4r2_gz_plugin)

find_package(ament_cmake REQUIRED)
find_package(gz-cmake3 REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(mocap_interfaces REQUIRED)
find_package(mocap4r2_control REQUIRED)
find_package(rclcpp REQUIRED)

gz_find_package(gz-plugin2 REQUIRED COMPONENTS register)
gz_find_package(gz-sim8 REQUIRED)
gz_find_package(gz-rendering8 REQUIRED)
gz_find_package(gz-sensors8 REQUIRED)

set(GZ_PLUGIN_VER ${gz-plugin2_VERSION_MAJOR})
set(GZ_SIM_VER ${gz-sim8_VERSION_MAJOR})
set(GZ_RENDERING_VER ${gz-rendering8_VERSION_MAJOR})
set(GZ_SENSORS_VER ${gz-sensors8_VERSION_MAJOR})

include_directories(include)

add_library(mocap_gz_ros SHARED src/mocap_gz_ros.cpp)

set_target_properties(mocap_gz_ros PROPERTIES OUTPUT_NAME mocap-gz-ros SUFFIX "" PREFIX "")

ament_target_dependencies(mocap_gz_ros
  rclcpp
  geometry_msgs
  mocap_interfaces
  mocap4r2_control
)

target_link_libraries(mocap_gz_ros
  gz-plugin${GZ_PLUGIN_VER}::gz-plugin${GZ_PLUGIN_VER}
  gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
)

install(DIRECTORY
  launch urdf
  DESTINATION share/${PROJECT_NAME}/
)

install(TARGETS mocap_gz_ros DESTINATION $ENV{HOME}/.gz/sim/plugins)

ament_export_libraries(mocap_gz_ros)
ament_export_dependencies(gz-cmake3 gz-plugin2 gz-sim8 geometry_msgs mocap_interfaces mocap4r2_control rclcpp)

ament_package()