CMakeLists.txt

Overview

CMakeLists.txt is the CMake build definition for the cartographer_ros_msgs package. It declares the message and service files, registers them with the ROS 2 interface generator, and sets up lint tests.

Details

  • Minimum CMake version: 3.5, set via cmake_minimum_required(VERSION 3.5).

  • Project name: cartographer_ros_msgs.

  • C++ standard: Defaults to C++14 via CMAKE_CXX_STANDARD when not already set.

  • Compiler flags: For GCC and Clang, -Wall, -Wextra, and -Wpedantic are added to CMAKE_CXX_FLAGS. The pedantic option is deliberately not used in this message package because the generated Python C extensions do not comply with it.

Message and Service Registration

The msg_files variable lists all 13 message definitions under msg/:

set(msg_files
  "msg/BagfileProgress.msg"
  "msg/HistogramBucket.msg"
  "msg/LandmarkEntry.msg"
  "msg/LandmarkList.msg"
  "msg/MetricFamily.msg"
  "msg/MetricLabel.msg"
  "msg/Metric.msg"
  "msg/StatusCode.msg"
  "msg/StatusResponse.msg"
  "msg/SubmapEntry.msg"
  "msg/SubmapList.msg"
  "msg/SubmapTexture.msg"
  "msg/TrajectoryStates.msg"
)

The srv_files variable lists all 7 service definitions under srv/:

set(srv_files
  "srv/FinishTrajectory.srv"
  "srv/GetTrajectoryStates.srv"
  "srv/ReadMetrics.srv"
  "srv/StartTrajectory.srv"
  "srv/TrajectoryQuery.srv"
  "srv/SubmapQuery.srv"
  "srv/WriteState.srv"
)

Interface Generation

rosidl_generate_interfaces is invoked with the project name and both file lists:

rosidl_generate_interfaces(${PROJECT_NAME}
  ${msg_files}
  ${srv_files}
  DEPENDENCIES builtin_interfaces geometry_msgs std_msgs
  ADD_LINTER_TESTS
)

  • DEPENDENCIES declares the other interface packages whose types are referenced by the definitions.

  • ADD_LINTER_TESTS enables lint tests on the generated interfaces.

Package Finalization

  • ament_export_dependencies(rosidl_default_runtime) exports the runtime dependency on rosidl_default_runtime.

  • ament_package() finalizes the ament package.

Prerequisites

The file requires the following CMake packages to be found:

  • ament_cmake

  • rosidl_default_generators

  • builtin_interfaces

  • geometry_msgs

  • std_msgs