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Add option to build as an ament package #817

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Add option to build as an ament package #817

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32 changes: 29 additions & 3 deletions cpp/foxglove-websocket/CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,13 +1,21 @@
cmake_minimum_required(VERSION 3.15)
project(FoxgloveWebSocket CXX)

find_package(ament_cmake QUIET)
set(COMPILING_FOR_ROS2 OFF)
if(${ament_cmake_FOUND})
set(COMPILING_FOR_ROS2 ON)
message(STATUS "Compiling for ROS2")
endif()

find_package(nlohmann_json REQUIRED)
find_package(websocketpp REQUIRED)

add_library(foxglove_websocket src/base64.cpp src/parameter.cpp src/serialization.cpp src/server_factory.cpp)
target_include_directories(foxglove_websocket
PUBLIC include
SYSTEM
PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
${nlohmann_json_INCLUDE_DIRS}
${websocketpp_INCLUDE_DIRS}
)
Expand All @@ -21,6 +29,24 @@ else()
endif()

install(TARGETS foxglove_websocket)
INSTALL (DIRECTORY ${CMAKE_SOURCE_DIR}/include/
install(
TARGETS foxglove_websocket
EXPORT FoxgloveWebSocketTargets
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib
RUNTIME DESTINATION bin
INCLUDES DESTINATION include
)
INSTALL (DIRECTORY include/
DESTINATION include)
install(FILES ${CMAKE_SOURCE_DIR}/LICENSE DESTINATION ${CMAKE_INSTALL_PREFIX}/licenses/)

if(COMPILING_FOR_ROS2)
ament_target_dependencies(foxglove_websocket nlohmann_json websocketpp)

ament_export_targets(FoxgloveWebSocketTargets HAS_LIBRARY_TARGET)
ament_export_dependencies(nlohmann_json websocketpp)
ament_export_include_directories(include)
ament_export_libraries(foxglove_websocket)
ament_package()
endif()
18 changes: 18 additions & 0 deletions cpp/foxglove-websocket/package.xml
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Original file line number Diff line number Diff line change
@@ -0,0 +1,18 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>FoxgloveWebSocket</name>
<version>1.3.0</version>
<description>Websocket protocol librory for use with foxglove studio</description>
<maintainer email="[email protected]">maintainer_name</maintainer>
<license>MIT</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<depend>libwebsocketpp-dev</depend>
<depend>zlib</depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>