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Feature/graph manager (#38)

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* Initial changes

* Working state

* Working state

* Working state

* Working state

* Working state

* Working state

* Added graph listener

* Updates

* Testing name demangling

* Graph manager: reworked

* Remove debug trace

* Treat errors when freeing rcutils resources

* Improve logics for discovering entities

* Working state: Micro-ROS graph manager

* Fix micro_ros_graph_info typesupport type name

* Remove double CMakeLists comment

* Remove package.xml commented block

* Add missing include

* Added CI

* Remove GUID_t param from callbacks signature

* Add services names and types to micro-ROS graph topic

* Differenciate between service server and clients

* remove debug traces

Co-authored-by: Pablo Garrido <pablogs9@gmail.com>
This commit is contained in:
Jose Antonio Moral
2020-11-26 07:44:52 +01:00
committed by GitHub
co-authored by Pablo Garrido
parent dce3c25a33
commit 23bcea8efb
18 changed files with 2090 additions and 15 deletions
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micro_ros_agent/CMakeLists.txt
+60 -5
View File
@@ -23,19 +23,74 @@ project(micro_ros_agent LANGUAGES CXX)
find_package(ament_cmake REQUIRED)
find_package(microxrcedds_agent REQUIRED)
find_package(rosidl_cmake REQUIRED)
find_package(fastcdr REQUIRED)
find_package(fastrtps REQUIRED)
find_package(fastrtps_cmake_module REQUIRED)
find_package(rmw_dds_common REQUIRED)
find_package(rmw REQUIRED)
find_package(rcutils REQUIRED)
find_package(rmw_fastrtps_shared_cpp REQUIRED)
add_executable(${PROJECT_NAME} src/main.cpp)
find_package(ament_lint_auto REQUIRED)
find_package(rosidl_typesupport_fastrtps_cpp REQUIRED)
find_package(rosidl_runtime_cpp REQUIRED)
find_package(rosidl_typesupport_cpp REQUIRED)
find_package(ament_cmake_gtest REQUIRED)
find_package(micro_ros_msgs REQUIRED)
add_executable(${PROJECT_NAME}
src/main.cpp
src/agent/Agent.cpp
src/agent/graph_manager/graph_manager.cpp
src/agent/graph_manager/graph_typesupport.cpp
src/agent/utils/demangle.cpp
)
target_include_directories(${PROJECT_NAME}
PRIVATE
include
)
ament_target_dependencies(${PROJECT_NAME}
rosidl_typesupport_fastrtps_cpp
rosidl_runtime_cpp
rosidl_typesupport_cpp
fastcdr
fastrtps
rmw_dds_common
rmw
rmw_fastrtps_shared_cpp
micro_ros_msgs
)
target_link_libraries(${PROJECT_NAME}
microxrcedds_agent
fastcdr
fastrtps
$<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
$<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
)
target_compile_options(${PROJECT_NAME}
PRIVATE
microxrcedds_agent
$<$<BOOL:$<PLATFORM_ID:Linux>>:rt>
$<$<BOOL:$<PLATFORM_ID:Linux>>:dl>
$<$<C_COMPILER_ID:GNU>:-Wall>
$<$<C_COMPILER_ID:GNU>:-Wextra>
$<$<C_COMPILER_ID:GNU>:-pedantic>
)
set_target_properties(${PROJECT_NAME} PROPERTIES
CXX_STANDARD
11
14
CXX_STANDARD_REQUIRED
YES
)
set_target_properties(${PROJECT_NAME} PROPERTIES
CXX_STANDARD
14
CXX_STANDARD_REQUIRED
YES
)