CMakeLists.txt

cmake_minimum_required(VERSION 3.5)
project(realsense_ros2_gazebo)

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  # we dont use add_compile_options with pedantic in message packages
  # because the Python C extensions dont comply with it
  set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wextra -Wpedantic -Wno-inconsistent-missing-override")
endif()

set(FastRTPS_INCLUDE_DIR /opt/ros/galactic/include) 
set(FastRTPS_LIBRARY_RELEASE /opt/ros/galactic/lib/libfastrtps.so)
# Load catkin and all dependencies required for this package
find_package(ament_cmake REQUIRED)
find_package(camera_info_manager REQUIRED)
find_package(gazebo_ros REQUIRED)
find_package(image_transport REQUIRED)
find_package(rclcpp REQUIRED)
find_package(sensor_msgs REQUIRED)

find_package(gazebo REQUIRED)

#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${GAZEBO_CXX_FLAGS}")

set(dependencies
  camera_info_manager
  gazebo_ros
  image_transport
  rclcpp
  sensor_msgs
)

include_directories(
    SYSTEM
    include
    ${GAZEBO_INCLUDE_DIRS}
)

link_directories(${GAZEBO_LIBRARY_DIRS})

add_library(
    ${PROJECT_NAME} SHARED
    src/RealSensePlugin.cpp
    src/realsense_ros2_gazebo.cpp
    )

ament_target_dependencies(${PROJECT_NAME} ${dependencies})
target_link_libraries(${PROJECT_NAME} ${GAZEBO_LIBRARIES})

install(TARGETS ${PROJECT_NAME} 
  ARCHIVE DESTINATION lib
  LIBRARY DESTINATION lib
  RUNTIME DESTINATION bin
)

install(DIRECTORY include/${PROJECT_NAME}/
  DESTINATION include/${PROJECT_NAME}
)

# Install models meshes
install(DIRECTORY meshes
    DESTINATION share/${PROJECT_NAME}
)

# Install xacro files
install(DIRECTORY xacro
    DESTINATION share/${PROJECT_NAME}
)

# Install urdf files
# install(DIRECTORY urdf
#     DESTINATION share/${PROJECT_NAME}
# )


# Install launch files
install(DIRECTORY launch
    DESTINATION share/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  ament_lint_auto_find_test_dependencies()
endif()

ament_export_include_directories(include)
ament_export_libraries(${PROJECT_NAME})
ament_package()