705375085f
- Change CForce3D fx/fy/fz from int16 to uint32 to match hardware - Add independent C++ example with command and streaming modes - Rewrite Python example with threaded streaming (read_loop + consumer pattern) - Add ROS2 C++ publisher/subscriber examples - Update README with streaming APIs, ROS2 docs, data type definitions, and full FFI table - Add CHANGELOG
53 lines
1.9 KiB
CMake
53 lines
1.9 KiB
CMake
cmake_minimum_required(VERSION 3.8)
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project(eskin_ros2_demo)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# Force use of system Python (avoid Conda Python interfering with ROS 2)
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set(Python3_EXECUTABLE /usr/bin/python3 CACHE FILEPATH "System Python3" FORCE)
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# Ensure ROS 2 Python packages are findable even without ROS 2 sourced (e.g. VS Code CMake Tools)
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set(ENV{PYTHONPATH} "/opt/ros/jazzy/lib/python3.12/site-packages:$ENV{PYTHONPATH}")
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(std_msgs REQUIRED)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# comment the line when a copyright and license is added to all source files
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set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# comment the line when this package is in a git repo and when
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# a copyright and license is added to all source files
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set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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# Eskin SDK library
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set(ESKIN_SDK_DIR "/home/lenn/Workspace/eskin-finger-sdk" CACHE PATH "Path to eskin-finger-sdk")
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add_library(eskin_finger_sdk SHARED IMPORTED)
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set_target_properties(eskin_finger_sdk PROPERTIES
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IMPORTED_LOCATION "${ESKIN_SDK_DIR}/target/release/libeskin_finger_sdk.so"
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INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_SOURCE_DIR}/include"
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)
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add_executable(eskin_publisher src/eskin_publisher.cpp)
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ament_target_dependencies(eskin_publisher rclcpp std_msgs)
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target_link_libraries(eskin_publisher eskin_finger_sdk pthread)
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add_executable(eskin_subscriber src/eskin_subscriber.cpp)
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ament_target_dependencies(eskin_subscriber rclcpp std_msgs)
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install(TARGETS
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eskin_publisher
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eskin_subscriber
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DESTINATION lib/${PROJECT_NAME}
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)
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ament_package()
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