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CMakeLists.txt
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CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(moveit_middleware_benchmark)
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(moveit_ros_planning_interface REQUIRED)
find_package(rclcpp REQUIRED)
find_package(benchmark REQUIRED)
find_package(dynmsg REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(ament_index_cpp REQUIRED)
find_package(yaml-cpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(example_interfaces REQUIRED)
add_executable(
scenario_perception_pipeline_benchmark_main
src/scenario_perception_pipeline_benchmark_main.cpp
src/scenarios/scenario_perception_pipeline.cpp)
ament_target_dependencies(
scenario_perception_pipeline_benchmark_main
PUBLIC
"moveit_ros_planning_interface"
"rclcpp"
"benchmark"
"dynmsg"
"nav_msgs"
"yaml-cpp"
"example_interfaces")
target_include_directories(
scenario_perception_pipeline_benchmark_main
PUBLIC $<INSTALL_INTERFACE:include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
target_link_libraries(scenario_perception_pipeline_benchmark_main
PUBLIC "benchmark::benchmark" ${YAML_CPP_LIBRARIES})
add_executable(
scenario_basic_subscription_benchmark_main
src/scenario_basic_subscription_benchmark_main.cpp
src/scenarios/scenario_basic_subscription.cpp)
ament_target_dependencies(
scenario_basic_subscription_benchmark_main PUBLIC
"moveit_ros_planning_interface" "rclcpp" "benchmark" "std_msgs")
target_include_directories(
scenario_basic_subscription_benchmark_main
PUBLIC $<INSTALL_INTERFACE:include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
target_link_libraries(scenario_basic_subscription_benchmark_main
PUBLIC "benchmark::benchmark" ${YAML_CPP_LIBRARIES})
add_executable(
scenario_basic_service_client_benchmark_main
src/scenario_basic_service_client_benchmark_main.cpp
src/scenarios/scenario_basic_service_client.cpp)
ament_target_dependencies(
scenario_basic_service_client_benchmark_main
PUBLIC
"moveit_ros_planning_interface"
"rclcpp"
"benchmark"
"std_msgs"
"example_interfaces")
target_include_directories(
scenario_basic_service_client_benchmark_main
PUBLIC $<INSTALL_INTERFACE:include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
target_link_libraries(scenario_basic_service_client_benchmark_main
PUBLIC "benchmark::benchmark" ${YAML_CPP_LIBRARIES})
install(
TARGETS scenario_perception_pipeline_benchmark_main
scenario_basic_subscription_benchmark_main
scenario_basic_service_client_benchmark_main
DESTINATION lib/moveit_middleware_benchmark)
install(DIRECTORY launch config DESTINATION share/moveit_middleware_benchmark)
ament_package()