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Refactored CMakeLists.txt for easier integration of next benchmarks #41

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merged 2 commits into from
Oct 10, 2024
Merged

Refactored CMakeLists.txt for easier integration of next benchmarks #41

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0c55462
Refactored CMakeLists.txt for easier integration of next benchmarks
CihatAltiparmak Oct 7, 2024
02d055a
Added moveit_common into CMakeLists.txt
CihatAltiparmak Oct 10, 2024
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45 changes: 18 additions & 27 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
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()
# Common cmake code applied to all moveit packages
find_package(moveit_common REQUIRED)
moveit_package()

# find dependencies
find_package(ament_cmake REQUIRED)
Expand All @@ -17,51 +17,42 @@ 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)
add_library(
moveit_middleware_benchmark_lib SHARED
src/scenarios/scenario_perception_pipeline.cpp
src/scenarios/scenario_basic_service_client.cpp)

ament_target_dependencies(
scenario_perception_pipeline_benchmark_main
moveit_middleware_benchmark_lib
PUBLIC
moveit_ros_planning_interface
rclcpp
benchmark
dynmsg
nav_msgs
std_msgs
yaml-cpp
example_interfaces)

target_include_directories(
scenario_perception_pipeline_benchmark_main
moveit_middleware_benchmark_lib
PUBLIC $<INSTALL_INTERFACE:include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)

target_link_libraries(scenario_perception_pipeline_benchmark_main
target_link_libraries(moveit_middleware_benchmark_lib
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)
add_executable(scenario_perception_pipeline_benchmark_main
src/scenario_perception_pipeline_benchmark_main.cpp)

ament_target_dependencies(
scenario_basic_service_client_benchmark_main
PUBLIC
moveit_ros_planning_interface
rclcpp
benchmark
std_msgs
example_interfaces)
target_link_libraries(scenario_perception_pipeline_benchmark_main
PUBLIC moveit_middleware_benchmark_lib)

target_include_directories(
scenario_basic_service_client_benchmark_main
PUBLIC $<INSTALL_INTERFACE:include>
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>)
add_executable(scenario_basic_service_client_benchmark_main
src/scenario_basic_service_client_benchmark_main.cpp)

target_link_libraries(scenario_basic_service_client_benchmark_main
PUBLIC "benchmark::benchmark" ${YAML_CPP_LIBRARIES})
PUBLIC moveit_middleware_benchmark_lib)

install(TARGETS scenario_perception_pipeline_benchmark_main
scenario_basic_service_client_benchmark_main
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