Fix CMakeLists for fuse_core, and fix fuse_echo

Signed-off-by: methylDragon <methylDragon@gmail.com>
locusrobotics · Oct 14, 2022 · aa287f0 · aa287f0
1 parent 095dfa1
commit aa287f0
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Showing 3 changed files with 21 additions and 14 deletions.
diff --git a/fuse_constraints/CMakeLists.txt b/fuse_constraints/CMakeLists.txt
@@ -1,6 +1,7 @@
 cmake_minimum_required(VERSION 3.0.2)
 project(fuse_constraints)
 
+# TODO(CH3): Migrate these to ament
 set(build_depends
   fuse_core
   fuse_graphs
@@ -17,6 +18,7 @@ find_package(catkin REQUIRED COMPONENTS
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_LIST_DIR}/cmake)
 find_package(Ceres REQUIRED)
 find_package(Eigen3 REQUIRED)
+find_package(glog REQUIRED)
 find_package(SuiteSparse REQUIRED COMPONENTS CCOLAMD)
 
 catkin_package(

diff --git a/fuse_core/CMakeLists.txt b/fuse_core/CMakeLists.txt
@@ -20,7 +20,6 @@ find_package(rclcpp_components REQUIRED)
 
 find_package(Ceres REQUIRED)
 find_package(Eigen3 REQUIRED)
-find_package(glog REQUIRED)  # Used downstream
 
 include(boost-extras.cmake)
 
@@ -63,9 +62,14 @@ target_link_libraries(${PROJECT_NAME} PRIVATE
 )
 
 ## fuse_echo executable
-add_executable(fuse_echo src/fuse_echo.cpp)
-target_link_libraries(fuse_echo PUBLIC ${PROJECT_NAME})
-target_link_libraries(fuse_echo PRIVATE rclcpp_components::component)
+add_library(fuse_echo_component SHARED src/fuse_echo.cpp)
+target_link_libraries(fuse_echo_component PUBLIC ${PROJECT_NAME})
+target_link_libraries(fuse_echo_component PRIVATE rclcpp_components::component)
+
+rclcpp_components_register_node(fuse_echo_component
+  PLUGIN "fuse_core::FuseEcho"
+  EXECUTABLE fuse_echo_node
+  EXECUTOR SingleThreadedExecutor)
 
 #############
 ## Testing ##
@@ -486,7 +490,7 @@ install(TARGETS ${PROJECT_NAME} EXPORT ${PROJECT_NAME}-export
 )
 
 install(
-  TARGETS fuse_echo
+  TARGETS fuse_echo_component
   DESTINATION lib/${PROJECT_NAME}
 )
 
@@ -495,6 +499,15 @@ install(DIRECTORY include/
 )
 
 ament_export_targets(${PROJECT_NAME}-export HAS_LIBRARY_TARGET)
-ament_export_dependencies(${ament_dependencies})
+ament_export_dependencies(
+  ament_cmake
+  fuse_msgs
+  pluginlib
+  rcl_interfaces
+  rclcpp
+  rclcpp_components
+  Ceres
+  Eigen3
+)
 
 ament_package(CONFIG_EXTRAS boost-extras.cmake)
diff --git a/fuse_core/src/fuse_echo.cpp b/fuse_core/src/fuse_echo.cpp
@@ -92,14 +92,6 @@ class FuseEcho : public rclcpp::Node
 
 } // namespace fuse_core
 
-int main(int argc, char **argv)
-{
-  rclcpp::init(argc, argv);
-  rclcpp::NodeOptions options;
-  rclcpp::spin(std::make_shared<fuse_core::FuseEcho>(options));
-  rclcpp::shutdown();
-  return 0;
-}
 
 #include <rclcpp_components/register_node_macro.hpp>
 RCLCPP_COMPONENTS_REGISTER_NODE(fuse_core::FuseEcho)